TY  - JOUR
PY  - 2024//
TI  - Models for ground vehicle control on nonplanar surfaces
JO  - Vehicle system dynamics
A1  - Fork, Thomas
A1  - Tseng, H. Eric
A1  - Borrelli, Francesco
SP  - ePub
EP  - ePub
VL  - ePub
IS  - ePub
N2  - 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>
LA  - en
SN  - 0042-3114
UR  - http://dx.doi.org/
ID  - ref1
ER  -