Control of a four-wheel independently driven electric vehicle with a large sideslip angle

Hiroshi Nakano, Jun Kinugawa, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Herein, we propose a motion-control algorithm for a vehicle with a large sideslip angle. The proposed algorithm is designed on the basis of the planar motion of the vehicle using a four-wheel vehicle model. The proposed algorithm controls the vehicle velocity, sideslip angle of the vehicle, and yaw rate of the vehicle using the driving forces of the four-wheels and steer angle of the front wheels as control inputs. The proposed method is implemented in a simulation and in an experimental system, and the results show the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages265-270
Number of pages6
ISBN (Electronic)9781479973965
DOIs
Publication statusPublished - 2014 Apr 20
Event2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia
Duration: 2014 Dec 52014 Dec 10

Publication series

Name2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Other

Other2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
CountryIndonesia
CityBali
Period14/12/514/12/10

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Nakano, H., Kinugawa, J., & Kosuge, K. (2014). Control of a four-wheel independently driven electric vehicle with a large sideslip angle. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 265-270). [7090341] (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090341