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In this paper, motion control and stabilization of a 4-wheel skid-steering mobile robot (4WSSMR) are studied. A ratio controller which has been successfully applied in the chemical industry is designed to limit the vehicle lateral skid. Motion stability is guaranteed by generating an appropriate steering action (driving bias in left and right wheels) according to the states of the vehicle. A model...
Based on the six-freedom-degree model of four-wheel-drive electric vehicles, the fail-safe problem of (Electric Power Steering system) EPS is analyzed, and an EPS fail-safe strategy based on state observer is proposed in this paper. When EPS failed, by detecting the cornering angle of the steer wheel or the torsion of the steer wheel, the yaw rate command can be estimated. The vehicle's body is forced...
Frictional coefficient between tire and road is difficult to detect but crucial for vehicle active safety systems. Several approaches for friction coefficient estimation were developed based on various vehicle dynamic phenomena. This paper suggests nonlinear state observers that use vehicle dynamics, steering system dynamics, and tire force dynamics as a viable approach. The stability of the observer...
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