Optimum Path Tracking Control for the Inverse Problem of Vehicle Handling Dynamics Based on the hp-Adaptive Gaussian Pseudospectral Method

Table 1

Simulation parameters.

Parameter	Definition	Value
m (kg)	Vehicle mass	1265
(kg.m^2)	Moment of inertia around the z axis	1800
a (m)	Distances of front axle from the center of gravity	1.170
b (m)	Distances of rear axle from the center of gravity	1.195
k1 (N.rad^−1)	Synthesized stiffness of front tire	60042
k2 (N.rad^−1)	Synthesized stiffness of rear tire	109295
i	Transmission ratio of the steering system	20
	Coefficient of friction	0.8
	Moment of inertia of the steering system	16.38
	Drag coefficient	140
	Synthesized cornering stiffness	0
	Front wheel aligning arm of force	0.021
(m)	Height of the center gravity	0.53