TY  - JOUR
AU  - Qin, Wubing B.
AU  - Zhang, Yiming
AU  - Takács, Dénes
AU  - Stépán, Gábor
AU  - Orosz, Gábor
TI  - Nonholonomic dynamics and control of road vehicles: moving toward automation
JF  - NONLINEAR DYNAMICS
J2  - NONLINEAR DYNAM
VL  - 110
PY  - 2022
SP  - 1959
EP  - 2004
PG  - 46
SN  - 0924-090X
DO  - 10.1007/s11071-022-07761-4
UR  - https://m2.mtmt.hu/api/publication/33115827
ID  - 33115827
N1  - 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.
AB  - 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.
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Várszegi, Balázs
AU  - Takács, Dénes
AU  - Orosz, Gábor
TI  - On the nonlinear dynamics of automated vehicles - A nonholonomic approach
JF  - EUROPEAN JOURNAL OF MECHANICS A-SOLIDS
J2  - EUR J MECH A-SOLID
VL  - 74
PY  - 2019
SP  - 371
EP  - 380
PG  - 10
SN  - 0997-7538
DO  - 10.1016/j.euromechsol.2018.11.015
UR  - https://m2.mtmt.hu/api/publication/30454943
ID  - 30454943
AB  - A simple mechanical model for the lateral and yaw motion of a vehicle is presented while taking into account rolling constraints. The governing equations are derived by utilizing the Appellian framework. Analytical and numerical bifurcation analysis is performed while utilizing a PD controller. The results provide insight into the local and global stability of forward and reverse motion of automated passenger vehicles and harvesters.
LA  - English
DB  - MTMT
ER  -