Robust Scalable Vehicle Control via Non-Dimensional Vehicle Dynamics

Abstract

A temporal and spatial re-parameterization of the linear vehicle Bicycle Model is presented utilizing non-dimensional ratios of vehicle parameters called p-groups. Investigation of the p-groups using compiled data from 44 published sets of Vehicle Dynamics reveals a normal distribution about a line through p-space. The normal distribution suggests numerical-values for an ‘average’ vehicle and maximum perturbations about the average. A state-feedback controller is designed utilizing the p-space line and the expected p-perturbations to robustly stabilize all vehicles encompassed by the normal distribution of vehicle parameters. Experimental verification is obtained using a scaled vehicle.