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

Hiroshi Nakano; Jun Kinugawa; Kazuhiro Kosuge

doi:10.1109/ROBIO.2014.7090341

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

Hiroshi Nakano
, Jun Kinugawa
, Kazuhiro Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

10 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. © 2014 IEEE.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	IEEE
Pages	265-270
ISBN (Print)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090341
Publication status	Published - 20 Apr 2014
Externally published	Yes
Event	2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014
Place	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

Access Output

10.1109/ROBIO.2014.7090341

Other Access Options

Check CityUHK Library

Permanent Link

Right click to copy link

Cite this

@inproceedings{eefb740c989c465991a0e260cb931297,

title = "Control of a four-wheel independently driven electric vehicle with a large sideslip angle",

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. {\textcopyright} 2014 IEEE.",

author = "Hiroshi Nakano and Jun Kinugawa and Kazuhiro Kosuge",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

year = "2014",

month = apr,

day = "20",

doi = "10.1109/ROBIO.2014.7090341",

language = "English",

isbn = "9781479973965",

pages = "265--270",

booktitle = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

publisher = "IEEE",

address = "United States",

}

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., 7090341, IEEE, pp. 265-270, 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090341

Control of a four-wheel independently driven electric vehicle with a large sideslip angle. / Nakano, Hiroshi; Kinugawa, Jun; Kosuge, Kazuhiro.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. IEEE, 2014. p. 265-270 7090341.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Control of a four-wheel independently driven electric vehicle with a large sideslip angle

AU - Nakano, Hiroshi

AU - Kinugawa, Jun

AU - Kosuge, Kazuhiro

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2014/4/20

Y1 - 2014/4/20

N2 - 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. © 2014 IEEE.

AB - 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. © 2014 IEEE.

UR - http://www.scopus.com/inward/record.url?scp=84983097245&partnerID=8YFLogxK

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84983097245&origin=recordpage

U2 - 10.1109/ROBIO.2014.7090341

DO - 10.1109/ROBIO.2014.7090341

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781479973965

SP - 265

EP - 270

BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

PB - IEEE

T2 - 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014

Y2 - 5 December 2014 through 10 December 2014

ER -

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

Abstract

Conference

Bibliographical note

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Cite this