TY  - JOUR
PY  - 2010//
TI  - Global force potential of over-actuated vehicles
JO  - Vehicle system dynamics
A1  - Jonasson, M.
A1  - Andreasson, J.
A1  - Jacobson, B.
A1  - Trigell, A. S.
SP  - 983
EP  - 998
VL  - 48
IS  - 9
N2  - 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 /> 
LA  - en
SN  - 0042-3114
UR  - http://dx.doi.org/10.1080/00423110903243232
ID  - ref1
ER  -