Abstract
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 language | English (US) |
|---|---|
| Pages (from-to) | 255-277 |
| Number of pages | 23 |
| Journal | Vehicle System Dynamics |
| Volume | 36 |
| Issue number | 4-5 |
| DOIs | |
| State | Published - Nov 2001 |
| Externally published | Yes |
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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