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A Nonlinear Constraint Formulation for Direct and Inverse Vehicle Dynamics Modelling

[+] Author Affiliations
Elżbieta M. Jarzębowska

Warsaw University of Technology, Warsaw, Poland

Vladimir V. Vantsevich

University of Alabama at Birmingham, Birmingham, AL

Paper No. DETC2014-34632, pp. V003T01A020; 7 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 16th International Conference on Advanced Vehicle Technologies; 11th International Conference on Design Education; 7th Frontiers in Biomedical Devices
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4634-6
  • Copyright © 2014 by ASME


The paper presents an analysis of holonomic and non-holonomic material/non-material constrains that may be used in wheeled vehicle dynamics. Based on this analysis, a modified approach to the formulation of vehicle motion constraints is proposed. Specifically, a non-material constraint that limits vehicle kinematic parameters to a required motion, i.e. to a programmable motion that corresponds to required vehicle operational properties including turnability and stability of motion, is introduced.

The new concept of constraints put upon wheeled vehicle dynamics makes the resulting direct and inverse dynamic models more oriented towards required vehicle performance and facilitate the control design. The new constraint concept is illustrated by an example of a required vehicle acceleration performance.

Copyright © 2014 by ASME



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