Modelling and control of a vehicle with tire-road interaction using energy-based techniques

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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