Modeling and control of a wheeled mobile vehicle driving simulator by differential parameterization

In this paper a novel approach for dynamic modeling and integrated dynamics control of a wheeled mobile vehicle driving simulator consisting of the omnidirectional platform and the gimbal system is proposed. A comprehensive analysis of the dynamics of the subsystems for this driving simulator under the proposed control scheme is conducted. The entire system dynamic is derived as a differential algebraic equation by treating the tire forces as fictitious inputs. The overall model is constructed as an artificial flat system with differential constraints. All the system variables and the constraints can be differentially parameterized analytically by the structure coordinates and their derivatives. A trajectory tracking controller is developed using flatness property. Furthermore, the desired trajectories are generated by motion cueing strategy based on model predictive control techniques incorporating all physical limits into the optimization process.