Title :
Comparison of steering geometries for multi-wheeled vehicles by modelling and simulation
Author :
Colyer, R.E. ; Economou, J.T.
Author_Institution :
Dept. of Aerosp., Power & Sensors, Cranfield Univ., Swindon, UK
Abstract :
This paper examines and compares two commonly used steering geometries, the Ackermann and skid steering, using mathematical models formulated in a nonlinear state space form. For the skid-steering case, a steering mapping technique has been developed, which allows transformation of the inputs from a steering voltage and voltage forward demand to appropriate wheel actuator voltages. A comparison of the two models is then made using a heuristic mapping algorithm
Keywords :
electric actuators; nonlinear systems; position control; state-space methods; three-term control; vehicles; voltage control; Ackermann steering; PID controller; electric actuator; heuristic mapping algorithm; mathematical models; modelling; multiple wheeled vehicles; nonlinear systems; simulation; skid steering; state space; voltage control; Actuators; Geometry; Heuristic algorithms; Nonlinear equations; Samarium; Solid modeling; State-space methods; Vehicles; Voltage; Wheels;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.757992
