Development of Steering Laws to Assist the Driving of a Independent Front and Rear Steering Vehicle
Date
Type
Konferenciacikk
Language
en
Reading access rights:
Open access
Rights Holder
Budapest University of Technology and Economics
Conference Date
2021.12.12-2021.12.15
Conference Place
Online
Conference Title
ECCOMAS Thematic Conference on Multibody Dynamics
ISSN, e-ISSN
978-963-421-870-40
Container Title
Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS
Department
Műszaki Mechanikai Tanszék
First Page
408
Subject (OSZKAR)
2-steering-gears vehicle
Vehicle dynamics
Yaw rate control
Adaptive control
State observer.
Vehicle dynamics
Yaw rate control
Adaptive control
State observer.
Gender
Konferencia kiadvány
University
Budapesti Műszaki és Gazdaságtudományi Egyetem
- Cite this item
- https://doi.org/10.3311/ECCOMASMBD2021-223
OOC works
Abstract
This paper proposes a control strategy to control the yaw rate of a 2-independentsteering-gears vehicle operated by a driver. The approach is based on adaptive techniques to account the slip effects. An extended kinematic model is used which takes into account slipping effects through side-slip angles. A 3-steps state observer is proposed to estimate a characteristic parameter defining the tyre-ground contact. This state observer use only the value of control variables and the yaw rate measurement of the vehicle. Thanks to the proposed approach the driver can safely steer the 2-steering-gears off-road vehicle using one steering actuator without losing control at high speeds as will be the case with two independent steering actuators.