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Vehicle control by pitch modulation

  • US 7,900,725 B2
  • Filed: 10/11/2005
  • Issued: 03/08/2011
  • Est. Priority Date: 06/11/2002
  • Status: Active Grant
First Claim
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1. A vehicle comprising:

  • a plurality of wheels, including at least one forward wheel and at least one aft wheel;

    at least one motor actuator that drives the at least one aft wheel;

    a sensor that measures a vehicle pitch angle; and

    a controller that continuously governs the at least one motor actuator in such a manner as to dynamically stabilize the vehicle when the at least one forward wheel is not in contact with an underlying surface, the controller continuously governing the at least one motor actuator according to a control law, wherein the control law applied to dynamically stabilize the vehicle is the same whether or not the at least one forward wheel of the vehicle is in contact with the underlying surface and wherein the control law is based on a pitch signal when the vehicle pitch angle exceeds a specified value.

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