道路车辆的非完整动力学和控制：走向自动化
Nonholonomic dynamics and control of road vehicles: moving toward automation
摘要：
汽车的非完整模型是利用分析力学的工具，特别是Appellian的方法，允许一个描述车辆动力学与时间相关的状态变量的最小数目。这些模型根据它们如何表示轮地接触、它们是否包含纵向动力学以及它们是否考虑转向动力学来分类。它表明，所开发的模型可以用来设计低复杂度的控制器，使自动驾驶汽车执行各种各样的高精度的机动。
英文摘要：
Nonholonomic models of automobiles are developed by utilizing tools of analytical mechanics, in particular the Appellian approach that allows one to describe the vehicle dynamics with minimum number of time-dependent state variables. The models are categorized based on how they represent the wheel-ground contact, whether they incorporate the longitudinal dynamics, and whether they consider the steering dynamics. It is demonstrated that the developed models can be used to design low-complexity controllers that enable automated vehicles to execute a large variety of maneuvers with high precision.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
