A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels

Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


A simple control solution to realize the automatic steering and stability of the motorized independently-rotating wheel (IRW) configuration is proposed in this paper. Associated with a prototype of a two-axle vehicle, an active control strategy is developed to improve the dynamic behavior of the IRW system, especially the steering performances in curve negotiation. The simulation results demonstrate a significant reduction in the wheel/rail interaction without leading to instability issues owing to the proposed control approach.


Independently-rotating wheels Stability Curve negotiation Active control 



The authors acknowledge the EU ‘Shift2Rail’ Run2Rail project for the financial support to this research under grant agreement No. 777564.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Institute of Railway ResearchUniversity of HuddersfieldHuddersfieldUK

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