STUDY OF THE INTERNAL DYNAMICS OF A FOUR-WHEEL GROUND VEHICLE

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EGHTESAD M.; JAVID S.

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Journal Paper

Paper Information

Journal: IRANIAN JOURNAL OF SCIENCE AND TECHNOLOGY TRANSACTION B- ENGINEERING Year:2003 | Volume:27 | Issue:B3 Page(s): 481-492

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Information Journal Paper

Title

STUDY OF THE INTERNAL DYNAMICS OF A FOUR-WHEEL GROUND VEHICLE

Author(s)

EGHTESAD M. | JAVID S.

Keywords

GROUND VEHICLES

MOBILE ROBOTS

FEEDBACK LINEARIZATION

INTERNAL DYNAMICS

Abstract

Feedback linearization is a systematic approach often applied to the dynamic
model of MOBILE ROBOTS and GROUND VEHICLES. It transforms a nonlinear system into a (fully or
partially) linear system, and then uses the well-known linear design techniques to complete
the control design. This transformation divides the model dynamics into two parts: a) the
external dynamics which is to be transformed into a linear system and b) the internal
dynamics which becomes unobservable by the transformation. Nonholonomic systems have
an INTERNAL DYNAMICS with a dimension equal to the number of independent nonholonomic
constraints. One of the main subjects in the vehicle’s motion control is trajectory tracking. To
stabilize the vehicle around a trajectory, both external and INTERNAL DYNAMICS of the system
must be stable. Since FEEDBACK LINEARIZATION only treats the external dynamics of the system,
internal dynamics has to be examined separately.
In this paper, the INTERNAL DYNAMICS of a four-wheel vehicle is investigated and it’s
stability is analyzed. It is shown that the INTERNAL DYNAMICS of the vehicle is stable when the
vehicle is moving forward.

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APA: Copy

EGHTESAD, M., & JAVID, S.. (2003). STUDY OF THE INTERNAL DYNAMICS OF A FOUR-WHEEL GROUND VEHICLE. IRANIAN JOURNAL OF SCIENCE AND TECHNOLOGY TRANSACTION B- ENGINEERING, 27(B3), 481-492. SID. https://sid.ir/paper/529048/en

Vancouver: Copy

EGHTESAD M., JAVID S.. STUDY OF THE INTERNAL DYNAMICS OF A FOUR-WHEEL GROUND VEHICLE. IRANIAN JOURNAL OF SCIENCE AND TECHNOLOGY TRANSACTION B- ENGINEERING[Internet]. 2003;27(B3):481-492. Available from: https://sid.ir/paper/529048/en

IEEE: Copy

M. EGHTESAD, and S. JAVID, “STUDY OF THE INTERNAL DYNAMICS OF A FOUR-WHEEL GROUND VEHICLE,” IRANIAN JOURNAL OF SCIENCE AND TECHNOLOGY TRANSACTION B- ENGINEERING, vol. 27, no. B3, pp. 481–492, 2003, [Online]. Available: https://sid.ir/paper/529048/en

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