Modelling and control of a vehicle with tire-road interaction using Power-Oriented-Graph and Energetic-Macroscopic-Representation formalisms

In this paper a vehicle is described using two different energetic graphical techniques: power-oriented graphs (POG) and energetic macroscopic representation (EMR). As these techniques have different features and purposes, they can be used together to model different parts of the same system. The POG technique is used to model the interaction between tire and road in order to have a dynamic energetic model, while the EMR technique is used to repreIn this paper a vehicle is described using two different energetic graphical techniques: Power-Oriented Graphs (POG) and Energetic Macroscopic Representation (EMR). As these techniques have different features and purposes, they can be used together to model different parts of the same system. The POG technique is used to model the interaction between tire and road in order to have a dynamic energetic model, while the EMR technique is used to represent the whole system and deduce the control structure through the inversion-based methodology. Thanks to the use of both techniques the whole vehicle can be represented and a structure to control the vehicle velocity is given.sent the whole system and deduce the control structure through the inversion-based methodology. Thanks to the use of both techniques the whole vehicle can be represented and a structure to control the vehicle velocity is given.