Robust scalable vehicle control via non-dimensional vehicle dynamics

S. Brennan, A. Alleyne

Research output: Contribution to journalArticlepeer-review

25 Scopus citations


A temporal and spatial re-parameterization of the linear vehicle Bicycle Model is presented utilizing non-dimensional ratios of vehicle parameters called π-groups. Investigation of the π-groups using compiled data from 44 published sets of Vehicle Dynamics reveals a normal distribution about a line through π-space. The normal distribution suggests numerical-values for an 'average' vehicle and maximum perturbations about the average. A state-feedback controller is designed utilizing the π-space line and the expected π-perturbations to robustly stabilize all vehicles encompassed by the normal distribution of vehicle parameters. Experimental verification is obtained using a scaled vehicle.

Original languageEnglish (US)
Pages (from-to)255-277
Number of pages23
JournalVehicle System Dynamics
Issue number4-5
StatePublished - Nov 2001
Externally publishedYes

Bibliographical note

Funding Information:
The authors wish to express their sincere gratitude to NSF for providing the opportunity to conduct this research through a NSF Graduate Fellowship. In addition, the authors wish to thank David Lynch for his assistance in conducting vehicle tests.


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