For cars or trucks on the verge of roll-over, the boundary between stability and instability occurs when the vehicle balances on two wheels on the same side. In this work, the open-loop steering servo of an off-road type vehicle is used in a closed-loop balance control system that actuates the front steering angle so that the vehicle self-balances and drives on two wheels. A nonlinear vehicle m...

To solve the problem of self-balancing two-wheeled vehicle, this article presents double cascade PID control algorithm. This method reduces the coupling of balance control, speed control and direction control, because of the special system structure. This article successfully solved the sensor fusion of gyroscope and accelerometer by using Kalman filtering algorithm, and adding in fuzzy PID alg...

This paper reports a sliding mode controlled three wheeled narrow vehicle for two passengers. The whole system is a two-input two-output, eighteen order dynamical system. In a first and simple design, a set of parameters that achieve an acceptable system performance under perturbations have been selected. Results were validated by simulation. Keywords— Sliding Mode Control, Tilting Vehicle. Res...

This paper presents a motorcycle direct dynamic formulation by the Jourdain’s principle approach. This vehicle is considered as an assembly of six rigid bodies and the resulting equation of motion allows to simulate 11 Degrees of Freedom (DoF). The vehicle geometry is described and a step by step procedure is introduced to evaluate the kinematics and the generalized efforts of the considered ve...

This paper describes the development and evaluation of a riding simulator (RS) for two-wheeled vehicles to analyze rider control behavior from the viewpoints of human factors and control engineering. In simulator development, sense of realism is divided into riding sensation and handling feeling. In addition, they are governed by the motion equation and the required pseudo-experience. In this s...

A spatial six degree freedom mathematical model of a three wheeled vehicle (TWV) used in Asian countries has been developed using multi body system approach. The model includes suspension and tyre compliance. The model consists of a single sprung mass (vehicle body) connected to three unsprung masses (three wheels) at each corner. The suspensions and tires are modeled as springs and linear damp...

Abstract Electric explosion-proof trackless rubber-wheeled vehicles in coal mines usually use braking energy recovery technology to improve cruising range. In order the efficiency of vehicle and safety performance, this paper proposes a control strategy for electric based on road condition recognition. This is mine underground positioning technology, adopts different strategies conditions, whil...

Planning and control for a wheeled mobile robot are challenging problems when poorly traversable terrains, including dynamic obstacles, are considered. To accomplish a mission, the control system should firstly guarantee the vehicle integrity, for example with respect to possible roll-over/tip-over phenomena. A fundamental contribution to achieve this goal, however, comes from the planner as we...