Dynamic modeling of four-wheel full-suspension vehicle

S. Murat Yeşsiloǧlu*, Hakan Temeltaş

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This paper presents an analytical dynamic model of a four-wheel full-suspension vehicle using 24 independent dof. The methodology presented herein is capable of simulating vehicle dynamics on any terrain so long as it is smooth enough that tires can remain in contact. Given the steering torque, driving torque and terrain structure, the forward dynamics problem is solved to obtain velocities, accelerations, forces and torques of all joints. Among these, contact forces between tires and the road play a crucial role in designing an early sensory feedback system of imminent vehicle roll-over.

Original languageEnglish
Title of host publication8th International IFAC Symposium on Robot Control, SYROCO 2006
EditionPART 1
Publication statusPublished - 2006
Event8th International IFAC Symposium on Robot Control, SYROCO 2006 - Bologna, Italy
Duration: 6 Sept 20068 Sept 2006

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


Conference8th International IFAC Symposium on Robot Control, SYROCO 2006


  • Cooperating manipulators
  • Order of N dynamics
  • Vehicle dynamics


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