A maneuvering control algorithm based on the independent all-wheel driving and steering control has been proposed to improve the maneuverability and survivability for special purpose 6WD/6WS vehicles. The control algorithm to perform maneuvering, high speed stability, and fault tolerant controls effectively are derived based on high dynamic characteristics of in-wheel motor and advantages of independent steer and drive. The maneuvering controller applies sliding and optimal control theories considering optimal torque distribution and friction circle related to the vertical tire force.
Comments: 7 Pages.
[v1] 2012-10-17 10:58:57
Unique-IP document downloads: 131 times
Add your own feedback and questions here:
You are equally welcome to be positive or negative about any paper but please be polite. If you are being critical you must mention at least one specific error, otherwise your comment will be deleted as unhelpful.