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Herein, we propose a motion-control algorithm for a vehicle with a large sideslip angle. The proposed algorithm is designed on the basis of the planar motion of the vehicle using a four-wheel vehicle model. The proposed algorithm controls the vehicle velocity, sideslip angle of the vehicle, and yaw rate of the vehicle using the driving forces of the four-wheels and steer angle of the front wheels...
In this paper we discuss issues related to the design of clusterwheel inverted pendulum balancing machines, with a particular focus on the choice of the number of wheels in the cluster. This class of vehicles holds the promise of incorporating the inherent compliance of a two-wheeled balancing vehicle, the stability of a four-wheeled vehicle when desired, and the capability of legs to overcome obstacles...
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