00000cab a22000003a 4500 UP-99796217609149122 Buklod 20231007234027.0 m |o d | ta 100218s xx d | ||r ||||| || DENGII eng Brennan, S. Using a scale testbed Controller design and evaluation. pp. 15-26 To circumvent the cost and inherent danger in testing aggressive vehicle controllers using full-sized vehicles, a scale vehicle testbed has been developed for use as an evaluation tool to bridge the design gap between simulation studies and full-sized hardware. We describe vehicle dynamic models of the IRS simulation system, along with experimental verification using frequency response and parameter measurements. The next section provides a detailed discussion of dynamic similitude via the Buckingham pi theorem (1914), as well as a graphical comparison between distributions of dynamic scale parameters of scaled and full-sized vehicles. Following that, a yaw rate vehicle controller is introduced to exemplify the type of investigations that can be conducted with the IRS. The controller uses differential torque and brake inputs to assist the driver to control the yaw rate of the vehicle and is designed to achieve model tracking while allowing the driver to maintain control over the front wheels of the vehicle Buckingham pi theorem. IRS simulation system. Controller design. Controller evaluation. Differential brake inputs. Differential torque inputs. Dynamic scale parameter distribution. Frequency response measurements. Graphical comparison. Model tracking. Parameter measurements. Scale testbed. Vehicle dynamic models. Yaw rate vehicle controller. IEEE Control systems magazine 21, 3 (2001). FO Article