Abstract
This chapter is a critical link in transition from modeling to controller design. First, the general concept of motion stability is introduced from a theoretical level to an engineering level. Next, the turning model of tracked unmanned ground vehicle on any planar surface (maybe inclined) is established. Avoiding the arbitrary hypotheses, the sufficient condition of coincidence of pure instant center (PIC) and center of gravity (CG) is proposed and supplies the proof on rationality on coincidence of PIC and CG mathematically. Then, based on the calculus of variations method, sideslip model is proposed, which reveals the certainty of sideslip under the condition that PIC and CG are noncoincident. Furthermore, a more practical model describing the relationship of sideslip velocity and the offset of PIC and CG is deduced. As the stability of unmanned ground vehicle is sensitive to the disturbances applied on unmanned ground vehicle (UGV), then the mechanisms of all kinds of disturbances applied on UGV have been thoroughly discussed, which reveal the deviational rules of UGV. With the simulated case studies, disturbance of centrifugal force, slope force, and general disturbance on yaw motion represent individual characteristics, which form the foundation of the following chapters.
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