@article{ref1,
title="Global force potential of over-actuated vehicles",
journal="Vehicle system dynamics",
year="2010",
author="Jonasson, M. and Andreasson, J. and Jacobson, B. and Trigell, A. S.",
volume="48",
number="9",
pages="983-998",
abstract="This paper formulates force constraints of over-actuated road vehicles. In particular, focus is put on different vehicle configurations provided with electrical drivelines. It is demonstrated that a number of vehicles possesses non-convex tyre and actuator constraints, which have an impact on the way in which the actuators are to be used. By mapping the actuator forces to a space on a global level, the potential of the vehicle motion is investigated for the vehicles studied. It is concluded that vehicles with individual drive, compared with individual brakes only, have a great potential to yaw motion even under strong lateral acceleration.<p />",
language="en",
issn="0042-3114",
doi="10.1080/00423110903243232",
url="http://dx.doi.org/10.1080/00423110903243232"
}