comprehensive experimental validation of a scaled car-like vehicle: Lateral dynamics identification, stability analysis, and control applicatio

Author(s)

Ribeiro, A. M. ^{[1, 2]} ; Koyama, M. F. ^[1] ; Moutinho, A. ^[2] ; de Paiva, E. C. ^[1] ; Fioravanti, A. R. ^[1]

Affiliation

^[1] Univ Estadual Campinas, Sch Mech Engn, Sao Paulo - Brazil

^[2] Inst Super Tecn, Mech Engn Inst, Lisbon - Portugal

• Document type: Journal article
• Source: CONTROL ENGINEERING PRACTICE; v. 116, NOV 2021.
• Web of Science Citations: 0

Abstract

The use of scaled vehicle prototyping is driven through costs, safety, and time effectiveness in evaluating state-of-the-art algorithms, particularly to demonstrate and facilitate application in advanced vehicle control and sensing systems. This paper illustrates the use of a car-like 1:5-scale vehicle as a valid and reliable test-bed platform whose lateral dynamics are similar to those of a full-sized vehicle. The validation scheme is proposed by way of three model-based essential concepts, comprising an identification process, a stability analysis step, and a control design. The identification process is proposed to determine the unknown model parameters necessary to correctly describe the vehicle behavior. The mathematical model, validated through a series of matching experiments, is then used for further analysis and control purposes. The analysis design is intended to identify the vehicle's operating conditions, according to its stability properties. Finally, a lateral control strategy that merges knowledge acquired from these analyses is introduced for a path-following system. For each presented characterization, a wide set of experiments were carried out using the scaled vehicle platform. A persistent agreement between expected (simulated) and achieved (measured) lateral response was obtained. The results demonstrate a systematic consistency regarding the platform test-bed and the behavior described by the mathematical model. (AU)

• FAPESP's process: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment
• Grantee: Marco Henrique Terra
• Support Opportunities: Research Projects - Thematic Grants
• FAPESP's process: 18/05712-2 - Identification and control of a robotic electric vehicle with electronic differential
• Grantee: Alexandre Monteiro Ribeiro
• Support Opportunities: Scholarships in Brazil - Doctorate
• FAPESP's process: 18/04905-1 - Automatization of a Robotic Electric Vehicle with Electronic Differential
• Grantee: André Ricardo Fioravanti
• Support Opportunities: Regular Research Grants