Wheel independent-drive control based on dynamic tire LuGre friction model

Author

Jiuhong, Ruan ; Fuguang, Yang ; Xuyun, Qiu ; Yibin, Li

Author_Institution

Adv. Vehicle & Robot Inst., Shandong Jiaotong Univ., Jinan

fYear

2008

fDate

16-18 July 2008

Firstpage

441

Lastpage

445

Abstract

As a key of high capability mobile platform, wheel independent-drive control is studied by using the dynamic tire LuGre friction model and active disturbance rejection control (ADRC) method. Firstly, the wheel independent-drive mathematic model was given and the dynamic tire LuGre friction model was briefly introduced. Then the control objective was analyzed, and the control system structure and the ADRC controller were designed. At last, the independent-drive control simulations under the expected constant and dynamic longitudinal slip were done. The results show that the ADRC controller, which designed based on dynamic tire LuGre friction model, can implement high precision and strong robust control effect.

Keywords

control system synthesis; friction; robust control; tyres; variable structure systems; vehicle dynamics; wheels; active disturbance rejection control method; control system structure; dynamic longitudinal slip; dynamic tire LuGre friction model; robust control; wheel independent-drive control; Control systems; Electronic mail; Friction; Intelligent vehicles; Mathematical model; Mobile robots; Noise measurement; Tires; Vehicle dynamics; Wheels; Active Disturbance Rejection Control; Drive control; Dynamic LuGre friction model; Longitudinal slip; Wheel independent-drive;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2008. CCC 2008. 27th Chinese

Conference_Location

Kunming

Print_ISBN

978-7-900719-70-6

Electronic_ISBN

978-7-900719-70-6

Type

conf

DOI

10.1109/CHICC.2008.4605668

Filename

4605668