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A novel attitude control scheme is proposed for a rolling aerial vehicle (RAV) with large uncertainties. Firstly, the RAV highly coupled nonlinear system is separated into attitude loop and angular loop via backstepping technique. The nominal states are calculated based on the procedure of trajectory linearization control (TLC). Then, extended state observers (ESO) are applied to estimate the uncertainties...
The current vehicle dynamic stability control system is mostly concentrated on yaw stability and can not provide the adequate roll stability for vehicles with elevated center of gravity (CG). During critical steering, the variant vertical force of tire due to the roll motion may not only cause rollover accidents, but also affects yaw stability. This paper focuses on integrated control for vehicle...
This paper presents a combined dynamics modeling methodology which can be used to establish a complex 4-DOF (degree of freedom) vehicle dynamics model for active roll stability control of ground vehicles. The methodology is based on setting up three coordinate systems centered on the ground, the vehicle roll center and CG (center of gravity) respectively. The complex vehicle dynamics model including...
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