Abstract
In this paper a vehicle with the modelling of its tire-road interaction is described using two different energy-based graphical techniques: power-oriented graphs (POG) and energetic macroscopic representation (EMR). The main features of both approaches are presented and an integration between them is proposed: they can be used together to model different parts of the same system. Using the two techniques the whole vehicle can be represented with either a mathematical or a macroscopic view. From EMR an inversion-based control is given in order to control the vehicle velocity.
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