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In future planetary exploration missions, rovers are required to traverse over very rough terrain. Regolith, the soil that covers the Moon's surface, is easy to slide, causing rovers running on it get stuck. Some researchers have studied the mobility system for rovers. However the optimal and robust mobility systems have not been developed yet. For avoiding stuck-up, this paper proposes a new wheel...
In this paper, two estimation methods of cornering stiffness are proposed based on yaw-moment observer (YMO). First, a simple method is developed under the assumption that cornering stiffness coefficients of front and rear wheels are identical. A novel direct yaw-moment control (DYC) with this estimation is proposed for electric vehicles with in-wheel motors. Second, a sophisticated method is introduced...
This paper is concerned with integrated yaw stability control strategy for 4WD EV driven by in-wheel motors. The strategy consists of double control loops. One is the upper control loop, which uses 2-DOF control method to specify control effectors which are required for keeping EV yaw stability. The other is the lower control loop, which is used to determine control inputs for four driving motors...
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