Control of vehicle with power wheeled steerings using feedforward dynamics compensation

Shigeki Iida, Shin'ichi Yuta

Research output: Contribution to conferencePaper

Abstract

The design of an efficient vehicle control method for an autonomous vehicle using the power wheeled steering (PWS) method by two driving wheels is described. First, the vehicle dynamics using the PWS method is analyzed. Next, an efficient controller for the PWS method is proposed. This controller includes a feedforward compensator which has the inverse dynamics of the vehicle and controls both sides of the wheel angular velocities. Additionally, in order to confirm the effectiveness of the proposed control method, numerical simulation and experimental results are shown.

Original languageEnglish
Pages2264-2269
Number of pages6
Publication statusPublished - 1991 Dec 1
EventProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn
Duration: 1991 Oct 281991 Nov 1

Other

OtherProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91
CityKobe, Jpn
Period91/10/2891/11/1

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Iida, S., & Yuta, S. (1991). Control of vehicle with power wheeled steerings using feedforward dynamics compensation. 2264-2269. Paper presented at Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, .