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Dynamic Modeling and Control of 4WS/4WD Ground Vehicles by Using Gibbs-Appell Formulation.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Dynamic Modeling and Control of 4WS/4WD Ground Vehicles by Using Gibbs-Appell Formulation./
Author:	Pius, Pius.
Description:	1 online resource (101 pages)
Notes:	Source: Masters Abstracts International, Volume: 84-12.
Contained By:	Masters Abstracts International84-12.
Subject:	Mechanical engineering. -
Online resource:	click for full text (PQDT)
ISBN:	9798379613693

Dynamic Modeling and Control of 4WS/4WD Ground Vehicles by Using Gibbs-Appell Formulation.
Pius, Pius.

Dynamic Modeling and Control of 4WS/4WD Ground Vehicles by Using Gibbs-Appell Formulation. - 1 online resource (101 pages)

Source: Masters Abstracts International, Volume: 84-12.

Thesis (M.S.)--North Dakota State University, 2023.

Includes bibliographical references

There has been an increased interest in four independently driven all-wheel steering systems because of their torque density and maneuverability in tight turns. However, controlling these vehicles can be challenging due to the basic rigid body kinematic constraint on the instantaneous center of rotation (ICR). Common approaches simplify the problem by extending the well-known bicycle model to these vehicles. This thesis develops a dynamic model of an independently driven and steering 4WD/4WS vehicle by using Gibbs-Appell formulation that takes into consideration all the constraints for the smooth running of the vehicle. Two models were developed whereby, the second model is an improvement of the first model. Both models are easy to use in control design and capture the dynamics of the vehicle by constraining the wheels to remain on the path. The improved model was validated on a real robotic vehicle.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798379613693Subjects--Topical Terms:

557493
Mechanical engineering.
Subjects--Index Terms:

Gibbs-Appell formulationIndex Terms--Genre/Form:

554714
Electronic books.

Dynamic Modeling and Control of 4WS/4WD Ground Vehicles by Using Gibbs-Appell Formulation.
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502 $a Thesis (M.S.)--North Dakota State University, 2023.
504 $a Includes bibliographical references
520 $a There has been an increased interest in four independently driven all-wheel steering systems because of their torque density and maneuverability in tight turns. However, controlling these vehicles can be challenging due to the basic rigid body kinematic constraint on the instantaneous center of rotation (ICR). Common approaches simplify the problem by extending the well-known bicycle model to these vehicles. This thesis develops a dynamic model of an independently driven and steering 4WD/4WS vehicle by using Gibbs-Appell formulation that takes into consideration all the constraints for the smooth running of the vehicle. Two models were developed whereby, the second model is an improvement of the first model. Both models are easy to use in control design and capture the dynamics of the vehicle by constraining the wheels to remain on the path. The improved model was validated on a real robotic vehicle.
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650 4 $a Automotive engineering. $3 1104081
650 4 $a Robotics. $3 561941
653 $a Gibbs-Appell formulation
653 $a Torque density
653 $a Robotic vehicle
653 $a Maneuverability
653 $a Ground vehicles
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