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Dynamics And Advanced Motion Control Of Off Road Ugvs

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Dynamics and Advanced Motion Control of Off Road UGVs

Dynamics and Advanced Motion Control of Off Road UGVs Book
Author : Yu Mae
Publisher : Academic Press
Release : 2020-08-06
ISBN : 0128188006
Language : En, Es, Fr & De

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Book Description :

Dynamics and Advanced Motion Control of Unmanned Ground Off-Road Vehicles details both theoretical concepts such as planning and perception when working with UGVs, as well as more practical, hands-on aspects such as torque vectoring control. The book also covers related technologies such as intelligent and electrification of ground vehicles. After an introduction, initial chapters include an exploration of wheel-soil and track-soil interaction mechanisms, motion stability, motion control, fault detection and identification, and fault tolerance control. This book offers readers a detailed understanding of Unmanned Ground Vehicles by combining theory, applications and further developments. Topics are covered in such a way that readers will be well versed on the current field of UGVs and will be able to implement future design and research in a feasible and effective way. Gives a comprehensive analysis and introduction to the dynamics and advanced motion control of unmanned ground off-road vehicles Covers key related technology concepts, such as intelligent and electrification of ground vehicles Details the entire control framework of off-road UGVs and the implementation of controller design

Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle

Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle Book
Author : Jun NI,Jibin Hu,Changle Ziang
Publisher : Springer Nature
Release : 2022-05-31
ISBN : 3031014960
Language : En, Es, Fr & De

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Book Description :

X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.

Advanced Autonomous Vehicle Design for Severe Environments

Advanced Autonomous Vehicle Design for Severe Environments Book
Author : V.V. Vantsevich,M.V. Blundell
Publisher : IOS Press
Release : 2015-10-20
ISBN : 1614995761
Language : En, Es, Fr & De

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Book Description :

Classical vehicle dynamics, which is the basis for manned ground vehicle design, has exhausted its potential for providing novel design concepts to a large degree. At the same time, unmanned ground vehicle (UGV) dynamics is still in its infancy and is currently being developed using general analytical dynamics principles with very little input from actual vehicle dynamics theory. This technical book presents outcomes from the NATO Advanced Study Institute (ASI) ‘Advanced Autonomous Vehicle Design for Severe Environments’, held in Coventry, UK, in July 2014. The ASI provided a platform for world class professionals to meet and discuss leading-edge research, engineering accomplishments and future trends in manned and unmanned ground vehicle dynamics, terrain mobility and energy efficiency. The outcomes of this collective effort serve as an analytical foundation for autonomous vehicle design. Topics covered include: historical aspects, pivotal accomplishments and the analysis of future trends in on- and off-road manned and unmanned vehicle dynamics; terramechanics, soil dynamic characteristics, uncertainties and stochastic characteristics of vehicle-environment interaction for agile vehicle dynamics modeling; new methods and techniques in on-line control and learning for vehicle autonomy; fundamentals of agility and severe environments; mechatronics and cyber-physics issues of agile vehicle dynamics to design for control, energy harvesting and cyber security; and case studies of agile and inverse vehicle dynamics and vehicle systems design, including optimisation of suspension and driveline systems. The book targets graduate students, who desire to advance further in leading-edge vehicle dynamics topics in manned and unmanned ground vehicles, PhD students continuing their research work and building advanced curricula in academia and industry, and researchers in government agencies and private companies.

Intelligent Vehicle Systems

Intelligent Vehicle Systems Book
Author : Raj Madhavan,Elena R. Messina
Publisher : Nova Publishers
Release : 2006
ISBN : 9781600212604
Language : En, Es, Fr & De

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Book Description :

This book presents new research on autonomous mobility capabilities and shows how technological advances can be anticipated in the coming two decades. An in-depth description is presented on the theoretical foundations and engineering approaches that enable these capabilities. Chapter 1 provides a brief introduction to the 4D/RCS reference model architecture and design methodology that has proven successful in guiding the development of autonomous mobility systems. Chapters 2 to 7 provide more detailed descriptions of research that has been conducted and algorithms that have been developed to implement the various aspects of the 4D/RCS reference model architecture and design methodology. Chapters 8 and 9 discuss applications, performance measures, and standards. Chapter 10 provides a history of Army and DARPA research in autonomous ground mobility. Chapter 11 provides a perspective on the potential future developments in autonomous mobility.

Applied Guidance Methodologies for Off road Vehicles

Applied Guidance Methodologies for Off road Vehicles Book
Author : Javad Taghia,Jayantha Katupitiya
Publisher : Springer Nature
Release : 2020-05-01
ISBN : 303042359X
Language : En, Es, Fr & De

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Book Description :

This book provides methodologies for designing and implementing guidance algorithms for autonomous vehicles. These algorithms make important decision regarding how to steer and drive a ground vehicle in order to safely stay on an intended path, thereby making the vehicle driverless. The design tools provided in this book enable the reader to develop highly practical and real-world implementable guidance algorithms that will deliver high-accuracy driving for field vehicles. (They are equally applicable for on-road vehicles.) The book covers a variety of vehicle types, including wheeled vehicles, tracked vehicles, wheeled and tracked vehicles towing trailers, and four-wheel-steer and four-wheel-drive vehicles. It also covers active trailers that are driven and steered. Vehicles used in agriculture, mining and road construction are subjected to unpredictable and significant disturbances. The robust control methodologies presented can successfully compensate for these disturbances, as confirmed by the experimental results presented. Though the majority of the methodologies presented are based on sliding-mode controllers, other robust control methodologies are also discussed. To help the reader decide which controller is best suited for his/her choice of vehicle, experimental results are presented in a comparative format.

Autonomous Vehicles in Support of Naval Operations

Autonomous Vehicles in Support of Naval Operations Book
Author : National Research Council,Division on Engineering and Physical Sciences,Naval Studies Board,Committee on Autonomous Vehicles in Support of Naval Operations
Publisher : National Academies Press
Release : 2005-08-05
ISBN : 9780309181235
Language : En, Es, Fr & De

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Book Description :

Autonomous vehicles (AVs) have been used in military operations for more than 60 years, with torpedoes, cruise missiles, satellites, and target drones being early examples.1 They have also been widely used in the civilian sector--for example, in the disposal of explosives, for work and measurement in radioactive environments, by various offshore industries for both creating and maintaining undersea facilities, for atmospheric and undersea research, and by industry in automated and robotic manufacturing. Recent military experiences with AVs have consistently demonstrated their value in a wide range of missions, and anticipated developments of AVs hold promise for increasingly significant roles in future naval operations. Advances in AV capabilities are enabled (and limited) by progress in the technologies of computing and robotics, navigation, communications and networking, power sources and propulsion, and materials. Autonomous Vehicles in Support of Naval Operations is a forward-looking discussion of the naval operational environment and vision for the Navy and Marine Corps and of naval mission needs and potential applications and limitations of AVs. This report considers the potential of AVs for naval operations, operational needs and technology issues, and opportunities for improved operations.

Technology Development for Army Unmanned Ground Vehicles

Technology Development for Army Unmanned Ground Vehicles Book
Author : National Research Council,Division on Engineering and Physical Sciences,Board on Army Science and Technology,Committee on Army Unmanned Ground Vehicle Technology
Publisher : National Academies Press
Release : 2003-02-01
ISBN : 0309086205
Language : En, Es, Fr & De

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Book Description :

Unmanned ground vehicles (UGV) are expected to play a key role in the Army’s Objective Force structure. These UGVs would be used for weapons platforms, logistics carriers, and reconnaissance, surveillance, and target acquisition among other things. To examine aspects of the Army’s UGV program, assess technology readiness, and identify key issues in implementing UGV systems, among other questions, the Deputy Assistant Secretary of the Army for Research and Technology asked the National Research Council (NRC) to conduct a study of UGV technologies. This report discusses UGV operational requirements, current development efforts, and technology integration and roadmaps to the future. Key recommendations are presented addressing technical content, time lines, and milestones for the UGV efforts.

Guidance and Control of Ocean Vehicles

Guidance and Control of Ocean Vehicles Book
Author : Thor I. Fossen
Publisher : John Wiley & Sons
Release : 1994-09-20
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

A comprehensive and extensive study of the latest research in control systems for marine vehicles. Demonstrates how the implementation of mathematical models and modern control theory can reduce fuel consumption and improve reliability and performance. Coverage includes ocean vehicle modeling, environmental disturbances, the dynamics and stability of ships, sensor and navigation systems. Numerous examples and exercises facilitate understanding.

Terramechanics and Off road Vehicles

Terramechanics and Off road Vehicles Book
Author : Jo Yung Wong
Publisher : Amsterdam ; New York : Elsevier (distributor)
Release : 1989
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Hardbound. The computer-aided methods presented in this book represent recent advances in the methodology for predicting and evaluating off-road vehicle performance. The mathematical models established for vehicle-terrain systems will enable the engineering practitioner to evaluate, on a rational basis, a wide range of options and to select an appropriate vehicle configuration for a given mission and environment. The models take into account all major design and operational parameters, as well as pertinent terrain characteristics.Applications of the computer-aided engineering methods to the parametric analysis of off-road vehicle design are demonstrated through examples.

Search and Rescue Robotics

Search and Rescue Robotics Book
Author : Multiple Authors
Publisher : BoD – Books on Demand
Release : 2017-08-23
ISBN : 9535133756
Language : En, Es, Fr & De

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Book Description :

In the event of large crises (earthquakes, typhoons, floods, ...), a primordial task of the fire and rescue services is the search for human survivors on the incident site. This is a complex and dangerous task, which - too often - leads to loss of lives among the human crisis managers themselves. This book explains how unmanned search can be added to the toolkit of the search and rescue workers, offering a valuable tool to save human lives and to speed up the search and rescue process. The introduction of robotic tools in the world of search and rescue is not straightforward, due to the fact that the search and rescue context is extremely technology-unfriendly, meaning that very robust solutions, which can be deployed extremely quickly, are required. Multiple research projects across the world are tackling this problem and in this book, a special focus is placed on showcasing the results of the European Union ICARUS project on this subject. The ICARUS project proposes to equip first responders with a comprehensive and integrated set of unmanned search and rescue tools, to increase the situational awareness of human crisis managers, so that more work can be done in a shorter amount of time. The ICARUS tools consist of assistive unmanned air, ground, and sea vehicles, equipped with victim-detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the command and control equipment of the human crisis managers and a set of training and support tools is provided to them in order to learn to use the ICARUS system. The research leading to these results has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement number 285417. The publishing of this book was funded by the EC FP7 Post-Grant Open Access Pilot programme.

Springer Handbook of Robotics

Springer Handbook of Robotics Book
Author : Bruno Siciliano,Oussama Khatib
Publisher : Springer
Release : 2016-07-27
ISBN : 3319325523
Language : En, Es, Fr & De

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Book Description :

The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/

Tire and Vehicle Dynamics

Tire and Vehicle Dynamics Book
Author : Hans Pacejka
Publisher : Elsevier
Release : 2012-04-12
ISBN : 0080970176
Language : En, Es, Fr & De

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Book Description :

The definitive book on tire mechanics by the acknowledged world expert Covers everything you need to know about pneumatic tires and their impact on vehicle performance, including mathematic modeling and its practical application Written by the acknowledged world authority on the topic and the name behind the most widely used model, Pacejka’s ‘Magic Formula’ Updated with the latest information on new and evolving tire models to ensure you can select the right model for your needs, apply it appropriately and understand its limitations In this well-known resource, leading tire model expert Hans Pacejka explains the relationship between operational variables, vehicle variables and tire modeling, taking you on a journey through the effective modeling of complex tire and vehicle dynamics problems. Covering the latest developments to Pacejka's own industry-leading model as well as the widely-used models of other pioneers in the field, the book combines theory, guidance, discussion and insight in one comprehensive reference. While the details of individual tire models are available in technical papers published by SAE, FISITA and other automotive organizations, Tire and Vehicle Dynamics remains the only reliable collection of information on the topic and the standard go-to resource for any engineer or researcher working in the area. New edition of the definitive book on tire mechanics, by the acknowledged world authority on the topic Covers everything an automotive engineer needs to know about pneumatic tires and their impact on vehicle performance, including mathematic modelling and its practical application Most vehicle manufacturers use what is commonly known as Pacejka’s ‘Magic Formula’, the tire model developed and presented in this book

Nonlinear Model Predictive Control

Nonlinear Model Predictive Control Book
Author : Lalo Magni,Davide Martino Raimondo,Frank Allgöwer
Publisher : Springer Science & Business Media
Release : 2009-05-25
ISBN : 3642010938
Language : En, Es, Fr & De

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Book Description :

Over the past few years significant progress has been achieved in the field of nonlinear model predictive control (NMPC), also referred to as receding horizon control or moving horizon control. More than 250 papers have been published in 2006 in ISI Journals. With this book we want to bring together the contributions of a diverse group of internationally well recognized researchers and industrial practitioners, to critically assess the current status of the NMPC field and to discuss future directions and needs. The book consists of selected papers presented at the International Workshop on Assessment an Future Directions of Nonlinear Model Predictive Control that took place from September 5 to 9, 2008, in Pavia, Italy.

Theory of Ground Vehicles

Theory of Ground Vehicles Book
Author : J. Y. Wong
Publisher : John Wiley & Sons
Release : 2001-03-20
ISBN : 9780471354611
Language : En, Es, Fr & De

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Book Description :

An updated edition of the classic reference on the dynamics of road and off-road vehicles As we enter a new millennium, the vehicle industry faces greater challenges than ever before as it strives to meet the increasing demand for safer, environmentally friendlier, more energy efficient, and lower emissions products. Theory of Ground Vehicles, Third Edition gives aspiring and practicing engineers a fundamental understanding of the critical factors affecting the performance, handling, and ride essential to the development and design of ground vehicles that meet these requirements. As in previous editions, this book focuses on applying engineering principles to the analysis of vehicle behavior. A large number of practical examples and problems are included throughout to help readers bridge the gap between theory and practice. Covering a wide range of topics concerning the dynamics of road and off-road vehicles, this Third Edition is filled with up-to-date information, including: * The Magic Formula for characterizing pneumatic tire behavior from test data for vehicle handling simulations * Computer-aided methods for performance and design evaluation of off-road vehicles, based on the author's own research * Updated data on road vehicle transmissions and operating fuel economy * Fundamentals of road vehicle stability control * Optimization of the performance of four-wheel-drive off-road vehicles and experimental substantiation, based on the author's own investigations * A new theory on skid-steering of tracked vehicles, developed by the author.

Modelling and Control of Mechatronic and Robotic Systems

Modelling and Control of Mechatronic and Robotic Systems Book
Author : Alessandro Gasparetto,Stefano Seriani
Publisher : MDPI
Release : 2021-09-02
ISBN : 3036511229
Language : En, Es, Fr & De

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Book Description :

Currently, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia. The book encompasses the kinematic and dynamic modelling, analysis, design, and control of mechatronic and robotic systems, with the scope of improving their performance, as well as simulating and testing novel devices and control architectures. A broad range of disciplines and topics are included, such as robotic manipulation, mobile systems, cable-driven robots, wearable and rehabilitation devices, variable stiffness safety-oriented mechanisms, optimization of robot performance, and energy-saving systems.

Lead Acid Batteries for Future Automobiles

Lead Acid Batteries for Future Automobiles Book
Author : Jürgen Garche,Eckhard Karden,Patrick T. Moseley,David A. J. Rand
Publisher : Elsevier
Release : 2017-02-21
ISBN : 0444637036
Language : En, Es, Fr & De

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Book Description :

Lead-Acid Batteries for Future Automobiles provides an overview on the innovations that were recently introduced in automotive lead-acid batteries and other aspects of current research. Innovative concepts are presented, some of which aim to make lead-acid technology a candidate for higher levels of powertrain hybridization, namely 48-volt mild or high-volt full hybrids. Lead-acid batteries continue to dominate the market as storage devices for automotive starting and power supply systems, but are facing competition from alternative storage technologies and being challenged by new application requirements, particularly related to new electric vehicle functions and powertrain electrification. Presents an overview of development trends for future automobiles and the demands that they place on the battery Describes how to adapt LABs for use in micro and mild hybrid EVs via collector construction and materials, via carbon additives, via new cell construction (bipolar), and via LAB hybrids with Li-ion and supercap systems System integration of LABs into vehicle power-supply and hybridization concepts Short description of competitive battery technologies

Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle

Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle Book
Author : Jun NI,Jibin Hu,Changle Xiang
Publisher : Morgan & Claypool Publishers
Release : 2018-01-04
ISBN : 1681732521
Language : En, Es, Fr & De

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Book Description :

X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.

Mobile Robotics

Mobile Robotics Book
Author : Alonzo Kelly
Publisher : Cambridge University Press
Release : 2013-11-11
ISBN : 110703115X
Language : En, Es, Fr & De

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Book Description :

Introduction -- Math fundamentals -- Numerical methods -- Dynamics -- Optimal estimation -- State estimation -- Control -- Perception -- Localization and mapping -- Motion planning

The DARPA Urban Challenge

The DARPA Urban Challenge Book
Author : Martin Buehler,Karl Iagnemma,Sanjiv Singh
Publisher : Springer
Release : 2009-11-26
ISBN : 364203991X
Language : En, Es, Fr & De

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Book Description :

By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

Vehicle Handling Dynamics

Vehicle Handling Dynamics Book
Author : Masato Abe
Publisher : Butterworth-Heinemann
Release : 2009-05-15
ISBN : 9780080961811
Language : En, Es, Fr & De

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Book Description :

This is the first book to combine classical vehicle dynamics with electronic control. The equation-based presentation of the theory behind vehicle dynamics enables readers to develop a thorough understanding of the key attribute to both a vehicle's driveability and its active safety. Supported by MATLAB tools, the key areas that affect vehicle dynamics are explored including tire mechanics, the steering system, vehicle roll, traction and braking, 4WS and vehicle dynamics, vehicle dynamics by vehicle and human control, and controllabiliy. As a professional reference volume, this book is an essential addition to the resources available to anyone working in vehicle design and development. Written by a leading authority in the field (who himself has considerable practical experience), the book has a unique blend of theory and practice that will be of immense value in this applications based field. Get a thorough understand of why vehicles respond they way they do with a complete treatment of vehicle dynamics from theory to application Full of case studies and worked examples using MATLAB/Simulink Covers all variables of vehicle dynamics including tire and vehicle motion, control aspects, human control and external disturbances