A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A simple control solution to realize the automatic steering and stability of the motorized independently-rotating wheel (IRW) configuration is proposed in this paper. Associated with a prototype of a two-axle vehicle, an active control strategy is developed to improve the dynamic behavior of the IRW system, especially the steering performances in curve negotiation. The simulation results demonstrate a significant reduction in the wheel/rail interaction without leading to instability issues owing to the proposed control approach.

Original languageEnglish
Title of host publicationAdvances in Dynamics of Vehicles on Roads and Tracks
Subtitle of host publicationProceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
EditorsMatthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
PublisherSpringer
Pages24-30
Number of pages7
Edition1
ISBN (Electronic)978303880779
ISBN (Print)9783030380762
DOIs
Publication statusPublished - 14 Feb 2020
Event26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks - Gothenburg, Sweden
Duration: 12 Aug 201916 Aug 2019
Conference number: 26
https://iavsd2019.se/

Publication series

NameLecture Notes in Mechanical Engineering
PublisherSpringer
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364

Conference

Conference26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks
Abbreviated titleIAVSD 2019
CountrySweden
CityGothenburg
Period12/08/1916/08/19
Internet address

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  • Cite this

    Liu, X., Goodall, R., & Iwnicki, S. (2020). A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels. In M. Klomp, F. Bruzelius, J. Nielsen, & A. Hillemyr (Eds.), Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 (1 ed., pp. 24-30). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-3-030-38077-9_3