car

dynamic equations for the car benchmark model

Contents

Syntax

f = car(x, u, w)

Description

Dynamic equation for the car benchmark model (see Eq. (19) in [1]). The benchmark represents the kinematik single track model of an autonomous vehicle. The system states are the vehicle orientation, the velocity, and the x and y position of the center of mass. Control inputs to the system are the steering wheel angle and the vehicle acceleration.

Input Arguments

x

system states x (dimension: [nx,1])

u

control inputs u (dimension: [nu,1])

w

disturbances w (dimension: [nw,1])

Output Arguments

f

value of the dynamic function = time derivative of x

See Also

cart, robotArm

References


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