Nonholonomic dynamics and control of road vehicles: moving toward automation

https://m2.mtmt.hu/ hun 2026-04-30 03:55 JournalArticle 33115827 VALIDATED true Funding Agency and Grant Number: National Research, Development, and Innovation Office of Hungary [NKFI-128422] Funding text: This research was partially supported by the National Research, Development, and Innovation Office of Hungary under Grant No. NKFI-128422. 0 false 2026-04-29T04:47:37.297+0000 2023-05-16T14:19:44.415+0000 2022-09-28T08:12:46.341+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin Andódy Katalin (BME admin4) true 2025-05-22T09:53:29.542+0000 2025-05-22T09:53:29.542+0000 2022-11-28T11:38:42.809+0000 true 10049401 Fülöp Tamás /api/admin/10049401 Admin Fülöp Tamás (BME GPK admin5) true 10049401 true false true 24 24 /api/publicationtype/24 PublicationType Folyóiratcikk 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType Folyóiratcikk 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType Szakcikk (Folyóiratcikk) 101 true 10000059 true 1 /api/category/1 Category Tudományos true 1 Qin, Wubing B. Nonholonomic dynamics and control of road vehicles: moving toward automation true true /api/journal/14303 REVIEWED NONLINEAR DYNAMICS 0924-090X 1573-269X true false 14303 false 14303 true 0924-090X 1573-269X Journal FOREIGN 110 1959 2004 1959 46 2022 Nonholonomic models of automobiles are developed by utilizing tools of analytical mechanics, in particular the Appellian approach that allows one to describe the vehicle dynamics with minimum number of time-dependent state variables. The models are categorized based on how they represent the wheel-ground contact, whether they incorporate the longitudinal dynamics, and whether they consider the steering dynamics. It is demonstrated that the developed models can be used to design low-complexity controllers that enable automated vehicles to execute a large variety of maneuvers with high precision. Funding 2018524 /api/funding/2018524 (NKFI-128422) Támogató: NKFIH false true true INTERNATIONAL 2022 true true true false true false GOLD 2026-04-29 true http://real.mtak.hu/174002 20 0 20 4 12 19 19 20 16 20 20 4 4 4 16 0 20 4 20 4 0 5 5 Folyóiratcikk Journal Article 24 16 Könyvrészlet Chapter in Book 25 4 Könyv Book 23 0 Egyéb konferenciaközlemény Conference paper 31 0 Egyéb konferenciakötet Conference proceedings 32 0 Oltalmi formák Protection forms 26 0 Disszertáció Thesis 28 0 Egyéb Miscellaneous 29 0 Alkotás Achievement 22 0 Kutatási adat Research data 33 0 Folyóiratcikk Journal Article 24 0 0 0 Könyvrészlet Chapter in Book 25 0 0 0 Könyv Book 23 0 0 0 Egyéb konferenciaközlemény Conference paper 31 0 0 0 Egyéb konferenciakötet Conference proceedings 32 0 0 0 Oltalmi formák Protection forms 26 0 0 0 Disszertáció Thesis 28 0 0 0 Egyéb Miscellaneous 29 0 0 0 Alkotás Achievement 22 0 0 0 Kutatási adat Research data 33 0 0 0 2022 0 1 0 1 0 2023 0 2 1 2 1 2024 0 5 1 5 1 2025 0 10 2 10 2 2026 0 2 0 2 0 D1 false false false false 2022-11-27T11:38:36.965+0000 ELKH-BME Gépek Dinamikája Kutatócsoport (BME / GPK / MM); MTA-BME Gépek és Járművek Dinamikája Kutatócsoport (BME / GPK / MM); Műszaki Mechanikai Tanszék (BME / GPK) 3 11 3 5 0 true Language 10002 /api/language/10002 Angol Angol English true 2 true PersonAuthorship 103565638 /api/authorship/103565638 Qin, Wubing B. 1 0.2 true false false Qin Wubing B. true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false true PersonAuthorship 103565639 /api/authorship/103565639 Zhang, Yiming 2 0.2 false false false Zhang Yiming true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false true PersonAuthorship 103565640 /api/authorship/103565640 Takács, Dénes [Takács, Dénes (Műszaki mechanika), szerző] MTA-BME Gépek és Járművek Dinamikája Kutatócsoport (BME / GPK / MM); Műszaki Mechanikai Tanszék (BME / GPK); ELKH-BME Gépek Dinamikája Kutatócsoport (BME / GPK / MM) 3 0.2 false false false Author 10019718 /api/author/10019718 Takács Dénes (Műszaki mechanika) Takács Dénes true 10019718 true Takács Dénes true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false true PersonAuthorship 103565641 /api/authorship/103565641 Stépán, Gábor [Stépán, Gábor (mechanika), szerző] Műszaki Mechanikai Tanszék (BME / GPK) 4 0.2 false false false Author 10000019 /api/author/10000019 Stépán Gábor (mechanika) Stépán Gábor true 10000019 true Stépán Gábor true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false true PersonAuthorship 103565642 /api/authorship/103565642 Orosz, Gábor ✉ [Orosz, Gábor (műszaki mechanika), szerző] 5 0.2 false true true Author 10088495 /api/author/10088495 Orosz Gábor (műszaki mechanika) Orosz Gábor true true Orosz Gábor true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false true PublicationIdentifier 21736377 /api/publicationidentifier/21736377 DOI: 10.1007/s11071-022-07761-4 PlainSource 6 /api/publicationsource/6 DOI PublicationSourceType 10001 /api/publicationsourcetype/10001 DOI true true true DOI DOI https://doi.org/@@@ true true 6 true IDENTICAL 10.1007/s11071-022-07761-4 https://doi.org/10.1007/s11071-022-07761-4 false true PublicationIdentifier 21736378 /api/publicationidentifier/21736378 WoS: 000852948500002 PlainSource 1 /api/publicationsource/1 WoS PublicationSourceType 10003 /api/publicationsourcetype/10003 Indexelő adatbázis false true true WoS WoS https://www.webofscience.com/wos/woscc/full-record/@@@ true true 1 true IDENTICAL 000852948500002 https://www.webofscience.com/wos/woscc/full-record/000852948500002 false true PublicationIdentifier 24387108 /api/publicationidentifier/24387108 REAL: 174002 SwordSource 36 /api/publicationsource/36 REAL PublicationSourceType 10007 /api/publicationsourcetype/10007 Repozitórium true true true REAL REAL http://real.mtak.hu/@@@ true true 36 true GOLD true 174002 http://real.mtak.hu/174002 false true PublicationIdentifier 21736404 /api/publicationidentifier/21736404 Scopus: 85132988258 PlainSource 3 /api/publicationsource/3 Scopus PublicationSourceType 10003 /api/publicationsourcetype/10003 Indexelő adatbázis false true true Scopus Scopus http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-@@@ true true 3 true IDENTICAL 85132988258 http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85132988258 false true Classification 10807 /api/classification/10807 Műszaki és technológiai tudományok true true Keyword 6325 /api/keyword/6325 STABILIZATION true 6325 true Keyword 1257017 /api/keyword/1257017 FLATNESS true 1257017 true Keyword 1518634 /api/keyword/1518634 Engineering, Mechanical true true Keyword 2354351 /api/keyword/2354351 Nonholonomic system true true Keyword 2743465 /api/keyword/2743465 Vehicle dynamics and control true true Keyword 2743466 /api/keyword/2743466 Appellian approach true true Keyword 2743467 /api/keyword/2743467 Single track model true true SjrRating 11297793 /api/sjrrating/11297793 sjr:D1 (2022) Scopus - Aerospace Engineering NONLINEAR DYNAMICS 0924-090X 1573-269X 12 0.1 journal RatingType 10002 /api/ratingtype/10002 sjr sjr true true ClassificationExternal 2202 /api/classificationexternal/2202 Scopus - Aerospace Engineering true 2202 true D1 DIRECT true true Reference 33928045 /api/reference/33928045 1. 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(2022) NONLINEAR DYNAMICS 0924-090X 1573-269X 110 1959-2004<div class="JournalArticle Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <img title="Idézőközlemény" style="float: left" src="/frontend/resources/grid/publication-citation-icon.png"> <div class="autype autype0"> <span class="author-name" >Qin Wubing B. </span> ;    <span class="author-name" >Zhang Yiming </span> ;    <span class="author-name" mtid="10019718"><a href="/gui2/?type=authors&mode=browse&sel=10019718" target="_blank">Takács Dénes (<span class="authorship-author-name">Takács Dénes</span> <span class="authorAux-mtmt"> Műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/<span title="Műszaki Mechanikai Tanszék">MM</span>/MTA-BME Gépek és Járművek Dinamikája Kutatócsoport; <span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék; <span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/<span title="Műszaki Mechanikai Tanszék">MM</span>/ELKH-BME Gépek Dinamikája Kutatócsoport</span> ;    <span class="author-name" mtid="10000019"><a href="/gui2/?type=authors&mode=browse&sel=10000019" target="_blank">Stépán Gábor (<span class="authorship-author-name">Stépán Gábor</span> <span class="authorAux-mtmt"> mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék</span> ;    <span class="author-name" mtid="10088495"><a href="/gui2/?type=authors&mode=browse&sel=10088495" target="_blank">Orosz Gábor ✉ (<span class="authorship-author-name">Orosz Gábor</span> <span class="authorAux-mtmt"> műszaki mechanika</span>) </a> </span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;33115827" target="_blank">Nonholonomic dynamics and control of road vehicles: moving toward automation</a></div> <div> <span class="journal-title">NONLINEAR DYNAMICS</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/0924-090X">0924-090X</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/1573-269X">1573-269X</a>)</span>: <span class="journal-volume">110</span> <span class="page"> pp 1959-2004 </span> <span class="year">(2022)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1007/s11071-022-07761-4" target="_blank" href="https://doi.org/10.1007/s11071-022-07761-4"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="000852948500002" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/000852948500002"> WoS </a> </span> <span class="id identifier oa_GOLD" title=" Gold "> <a style="color:black" title="174002" target="_blank" href="http://real.mtak.hu/174002"> REAL </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="85132988258" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85132988258"> Scopus </a> </span> </span> <OnlyViewableByAuthor><div class="ratings"> <div class="journal-subject">Folyóirat szakterülete: Scopus - Aerospace Engineering   SJR indikátor: D1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Mechanical Engineering   SJR indikátor: D1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Ocean Engineering   SJR indikátor: D1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Applied Mathematics   SJR indikátor: Q1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Control and Systems Engineering   SJR indikátor: Q1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Electrical and Electronic Engineering   SJR indikátor: Q1</div> </div></OnlyViewableByAuthor> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="Nyilvános idézőközlemények összesen, említések nélkül" class="citingPub-count">Nyilvános idéző összesen: 20</span> | Független: 4 | Függő: 16 | Nem jelölt: 0 | WoS jelölt: 20 | Scopus jelölt: 16 | WoS/Scopus jelölt: 20 | DOI jelölt: 19 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;33115827&sort=publishedYear,desc&sort=title"> Idézett közlemények száma: 5 </a> </div> <div class="mtid"><span class="long-pub-mtid">Közlemény: 33115827</span> | <span class="status-data status-VALIDATED"> Egyeztetett </span> Forrás Idéző | <span class="type-subtype">Folyóiratcikk ( Szakcikk ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">WOS TAGGED</span> </div> <div class="funder"> (NKFI-128422) Támogató: NKFIH </div> <div class="lastModified">Utolsó módosítás: 2023.05.16. 16:19 Fülöp Tamás (BME GPK admin5) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Megjegyzés</u>: Funding Agency and Grant Number: National Research, Development, and Innovation Office of Hungary [NKFI-128422] Funding text: This research was partially supported by the National Research, Development, and Innovation Office of Hungary under Grant No. NKFI-128422.</pre> </div></div>