@article{ref1,
title="Models for ground vehicle control on nonplanar surfaces",
journal="Vehicle system dynamics",
year="2024",
author="Fork, Thomas and Tseng, H. Eric and Borrelli, Francesco",
volume="ePub",
number="ePub",
pages="ePub-ePub",
abstract="We present a general approach to model the motion of a rigid body ground vehicle on a smooth nonplanar road surface. We generalise planar control-oriented models while preserving standard model states, inputs and outputs. We derive our approach from first principles, apply it to existing vehicle modelling approaches and test it through real-world experiments. We demonstrate that our approach improves upon the prediction accuracy of planar models.  Keywords: Vehicle dynamicsvehicle modelspredictive control<p /> <p>Language: en</p>",
language="en",
issn="0042-3114",
doi="",
url="http://dx.doi.org/"
}