Control of vehicle with power wheeled steerings using feedforward dynamics compensation

Shigeki Iida, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

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
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Place of PublicationLos Alamitos, CA, United States
PublisherPubl by IEEE
Pages2264-2269
Number of pages6
Volume3
Publication statusPublished - 1991
Externally publishedYes
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

Fingerprint

Wheels
Controllers
Angular velocity
Compensation and Redress
Computer simulation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Iida, S., & Yuta, S. (1991). Control of vehicle with power wheeled steerings using feedforward dynamics compensation. In IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 2264-2269). Los Alamitos, CA, United States: Publ by IEEE.

Control of vehicle with power wheeled steerings using feedforward dynamics compensation. / Iida, Shigeki; Yuta, Shinichi.

IECON Proceedings (Industrial Electronics Conference). Vol. 3 Los Alamitos, CA, United States : Publ by IEEE, 1991. p. 2264-2269.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Iida, S & Yuta, S 1991, Control of vehicle with power wheeled steerings using feedforward dynamics compensation. in IECON Proceedings (Industrial Electronics Conference). vol. 3, Publ by IEEE, Los Alamitos, CA, United States, pp. 2264-2269, Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, 91/10/28.
Iida S, Yuta S. Control of vehicle with power wheeled steerings using feedforward dynamics compensation. In IECON Proceedings (Industrial Electronics Conference). Vol. 3. Los Alamitos, CA, United States: Publ by IEEE. 1991. p. 2264-2269
Iida, Shigeki ; Yuta, Shinichi. / Control of vehicle with power wheeled steerings using feedforward dynamics compensation. IECON Proceedings (Industrial Electronics Conference). Vol. 3 Los Alamitos, CA, United States : Publ by IEEE, 1991. pp. 2264-2269
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