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2020 | OriginalPaper | Chapter

A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels

Authors: Xiaoyuan Liu, Roger Goodall, Simon Iwnicki

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

Publisher: Springer International Publishing

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Abstract

A simple control solution to realize the automatic steering and stability of the motorized independently-rotating wheel (IRW) configuration is proposed in this paper. Associated with a prototype of a two-axle vehicle, an active control strategy is developed to improve the dynamic behavior of the IRW system, especially the steering performances in curve negotiation. The simulation results demonstrate a significant reduction in the wheel/rail interaction without leading to instability issues owing to the proposed control approach.
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Metadata
Title
A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels
Authors
Xiaoyuan Liu
Roger Goodall
Simon Iwnicki
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-38077-9_3

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