Citation

Jonasson M, Andreasson J, Jacobson B, Trigell AS. Veh. Syst. Dyn. 2010; 48(9): 983-998.

Copyright

(Copyright © 2010, Informa - Taylor and Francis Group)

DOI

10.1080/00423110903243232

PMID

unavailable

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.