2020 | OriginalPaper | Chapter
A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels
Authors: Xiaoyuan Liu, Roger Goodall, Simon Iwnicki
Publisher: Springer International Publishing
Published in:
Advances in Dynamics of Vehicles on Roads and Tracks
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.
