Abstract Safety and efficiency are key aspects of research development in the automotive industry, especially field safety‐critical subsystems, such as brake systems. The effect time delay arise systems, this adverse can cause performance degradations or make system unstable. In study, bifurcation analysis a wheel slip control feedback loop is presented. consists tyre, delayed actuator dynamics...

The current practice for experimentally evaluating the performance of extraterrestrial rovers/rover wheels is to conduct tests on earth on a soil simulant, appropriate to the regolith on the extraterrestrial body of interest. In the tests, the normal load (force) applied by the rover/rover wheel to the soil simulant is set identical to that expected on the extraterrestrial surface, taking into ...

Typical formulations of the forward and inverse velocity kinematics of wheeled mobile robots assume flat terrain, consistent constraints, and no slip at the wheels. Such assumptions can sometimes permit the wheel constraints to be substituted into the differential equation to produce a compact, apparently unconstrained result. However, in the general case, the terrain is not flat, the wheel con...

Estimation and control of wheel slip is a critical consideration in preventing loss traction, minimizing power consumptions, reducing soil disturbance. An approach to estimation control, which robust sensor noises modeling imperfection, has been investigated this study. The proposed method uses simplified form wheels longitudinal dynamic the measurement vehicle speeds estimate optimum slip. for...

In this paper, we propose a torque vectoring controller for an electric vehicle with two electric machines which drive the front wheels independently. The torque vectoring system includes a vehicle dynamics controller and a motor torque and wheel slip limiter. The vehicle dynamics controller is designed as a polytopic, linear parameter-varying (LPV) gain-scheduled controller. The LPV controller...

a new anti-lock braking system (abs) for motorcycles is proposed in this study. it functions by processing the speed of the motorcycle tire in contact with the ground relative to the speed of the motorcycle itself and by calculating the slip ratio (λ) of the tire slipping on the ground while braking, and reducing it to a minimum which leads to increased controllability of the motorcycle and red...

The purpose of this study is to understand the nonlinear dynamics of longitudinal ground vehicle traction. Specifically, single-wheel models of rubber-tired automobiles under straight-ahead braking and acceleration conditions are investigated in detail. Customarily, the forward vehicle speed and the rotational rate of the tire/wheel are taken as dynamic states. This paper motivates an alternati...

A model predictive controller for optimal braking of a road vehicle is proposed. Taking into account the additional information provided by a torque sensor located in the wheel, there is no need to use any longitudinal model of the vehicle. Instead, we detail a way to identify a tire/road characteristic. This on-line reconstruction is based on an estimation of the longitudinal wheel slip and an...

A novel approach is proposed for the modeling of rigid-wheel and soft-soil interaction to efficiently compute normal and shear stress distributions in the contact area. The authors propose a velocity field in the vicinity of the contact area based on the physical nature of the problem. Thereupon, the incremental changes to the stress field are computed by resorting to elastoplasticity theory an...