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Dynamic Modeling and Control of 4WS/...

Pius, Pius.

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Dynamic Modeling and Control of 4WS/4WD Ground Vehicles by Using Gibbs-Appell Formulation.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Dynamic Modeling and Control of 4WS/4WD Ground Vehicles by Using Gibbs-Appell Formulation./
Author:	Pius, Pius.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2023,
Description:	101 p.
Notes:	Source: Masters Abstracts International, Volume: 84-12.
Contained By:	Masters Abstracts International84-12.
Subject:	Mechanical engineering. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30419247
ISBN:	9798379613693

Dynamic Modeling and Control of 4WS/4WD Ground Vehicles by Using Gibbs-Appell Formulation.
Pius, Pius.

Dynamic Modeling and Control of 4WS/4WD Ground Vehicles by Using Gibbs-Appell Formulation. - Ann Arbor : ProQuest Dissertations & Theses, 2023 - 101 p.

Source: Masters Abstracts International, Volume: 84-12.

Thesis (M.S.)--North Dakota State University, 2023.

This item must not be sold to any third party vendors.

There has been an increased interest in four independently driven all-wheel steering systems because of their torque density and maneuverability in tight turns. However, controlling these vehicles can be challenging due to the basic rigid body kinematic constraint on the instantaneous center of rotation (ICR). Common approaches simplify the problem by extending the well-known bicycle model to these vehicles. This thesis develops a dynamic model of an independently driven and steering 4WD/4WS vehicle by using Gibbs-Appell formulation that takes into consideration all the constraints for the smooth running of the vehicle. Two models were developed whereby, the second model is an improvement of the first model. Both models are easy to use in control design and capture the dynamics of the vehicle by constraining the wheels to remain on the path. The improved model was validated on a real robotic vehicle.

ISBN: 9798379613693Subjects--Topical Terms:

649730
Mechanical engineering.
Subjects--Index Terms:

Gibbs-Appell formulation

Dynamic Modeling and Control of 4WS/4WD Ground Vehicles by Using Gibbs-Appell Formulation.
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100 1 $a Pius, Pius. $3 3764980
245 1 0 $a Dynamic Modeling and Control of 4WS/4WD Ground Vehicles by Using Gibbs-Appell Formulation.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2023
300 $a 101 p.
500 $a Source: Masters Abstracts International, Volume: 84-12.
500 $a Includes supplementary digital materials.
500 $a Advisor: Selekwa, Majura.
502 $a Thesis (M.S.)--North Dakota State University, 2023.
506 $a This item must not be sold to any third party vendors.
520 $a There has been an increased interest in four independently driven all-wheel steering systems because of their torque density and maneuverability in tight turns. However, controlling these vehicles can be challenging due to the basic rigid body kinematic constraint on the instantaneous center of rotation (ICR). Common approaches simplify the problem by extending the well-known bicycle model to these vehicles. This thesis develops a dynamic model of an independently driven and steering 4WD/4WS vehicle by using Gibbs-Appell formulation that takes into consideration all the constraints for the smooth running of the vehicle. Two models were developed whereby, the second model is an improvement of the first model. Both models are easy to use in control design and capture the dynamics of the vehicle by constraining the wheels to remain on the path. The improved model was validated on a real robotic vehicle.
590 $a School code: 0157.
650 4 $a Mechanical engineering. $3 649730
650 4 $a Automotive engineering. $3 2181195
650 4 $a Robotics. $3 519753
653 $a Gibbs-Appell formulation
653 $a Torque density
653 $a Robotic vehicle
653 $a Maneuverability
653 $a Ground vehicles
690 $a 0548
690 $a 0771
690 $a 0540
710 2 $a North Dakota State University. $b Mechanical Engineering. $3 2095309
773 0 $t Masters Abstracts International $g 84-12.
790 $a 0157
791 $a M.S.
792 $a 2023
793 $a English
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30419247