Advanced search
Start date
(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

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

Full text
Ribeiro, A. M. [1, 2] ; Koyama, M. F. [1] ; Moutinho, A. [2] ; de Paiva, E. C. [1] ; Fioravanti, A. R. [1]
Total Authors: 5
[1] Univ Estadual Campinas, Sch Mech Engn, Sao Paulo - Brazil
[2] Inst Super Tecn, Mech Engn Inst, Lisbon - Portugal
Total Affiliations: 2
Document type: Journal article
Web of Science Citations: 0

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