System identification of rover dynamics: a comparison of three model structures Online publication date: Tue, 12-Jul-2022
by Christina M. Ivler; Norma Gowans; Cole Marfise
International Journal of Modelling, Identification and Control (IJMIC), Vol. 40, No. 1, 2022
Abstract: Dynamic testing of a small instrumented ground vehicle was conducted in order to identify an accurate state-space model for simulation of autonomous vehicles. This paper describes the application of frequency domain system identification to model the yaw/steering response of a small-scale rover. Several model structures of varying levels of complexity were adapted and applied to a small-scale rover: dynamic bicycle model, roll-yaw model and a lumped (based on Taylor series expansion) model. In comparing these three model structures, it was found that the dynamic bicycle model provided a simple model structure with good performance but cannot model roll dynamics. The roll-yaw model gave the most accurate model and better prediction for a range of vehicle speeds but is significantly more complex. Finally, the lumped model gave a highly accurate model at the identified speed condition; however, it cannot be accurately extrapolated to other speeds.
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