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http://dx.doi.org/10.9766/KIMST.2013.16.3.240

A Study on Maneuvering Control Algorithm Based on All-wheel Independent Driving and Steering Control for Special Purpose 6WD/6WS Vehicles  

Lee, Daeok (ADD)
Yeo, Seungtai (ADD)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.16, no.3, 2013 , pp. 240-249 More about this Journal
Abstract
This paper discusses the maneuvering control algorithm based on all-wheel independent driving and steering control techniques for special purpose 6WD/WS vehicles. The maneuvering control algorithms considering superior dynamic characteristics of high power in-wheel motors and independent steering system are designed to perform driving, steering, vehicle stability, and fault tolerant control. The maneuvering controller applies sliding and optimal control theories considering optimal torque distribution and friction circle related to the vertical tire force. The fault tolerant control algorithm is applied to obtain the similar maneuverability to that of the non-faulty vehicle. The simulations using the Matlab/Simulink dynamics model and experiments using HIL simulator mounting the real controllers with the designed control algorithms prove the improved performances in terms of vehicle stability and maneuverability.
Keywords
All-wheel Independent Control; Friction Circle; Lateral Stability Control; Maneuvering Controller;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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