This paper provides an overview of the latest advances in road vehicle suspension design, dynamics, and control, together with the authors' perspectives, in the context of vehicle ride, handling and stability. The general aspects of road vehicle suspension dynamics and design are discussed, followed by descriptions of road roughness excitations with a particular emphasis on road potholes. Passi...

This paper considers a design problem of controllers for wire-less vehicles in the developed networked control system. The developed system consists of a wire-less vehicle and some computers which configure a computer network. The vehicle is controlled over the computer network. One of the computers is a router which has an active queue management mechanism to keep the queue size constant and t...

This paper reports the development of a new hydrodynamics test facility for UUV dynamics, navigation, and control research. Located at the Johns Hopkins University, the facility’s 174,000 liter water tank, navigation instrumentation, and testbed ROV provides the ability for development of advanced underwater vehicle systems. Experimental data demonstrating the performance of the facility’s sens...

The paper addresses the robust design of a lateral stability controller for ground vehicles. Nonlinear vehicle dynamics are modeled by an approximate hybrid piecewise–affine model. Control of the vehicle yaw rate and lateral velocity of the center of gravity is achieved through steering and four wheels independent braking. Uncertainty in actuation is explicitly taken into account by introducing...

Over the past few years, automotive engineering has been characterized by rapid growth in active systems. Many research works have therefore been devoted to the control of such active subsystems, as braking, steering or suspension actuators. In particular the use of different actuators (braking, steering, suspension ...) allow to tackle emergency situations such as rollover, too large lateral a...

ESP can help the road vehicle to improve driving dynamics and prevent accidents which result from loss of control. Based on the theory and account method of Multi-body System Dynamics, the Multi-body System Dynamics model of an A-class car is built by the ADAMS/Car software, which includes steering system, front and rear suspension, braking system, body, and so on. In order to study the handlin...

Behavior planning of a vehicle in real-world traffic is a difficult problem. Complex systems have to be build to accomplish the projection of tasks, environmental constraints, and purposes of the driver to the dynamics of two controlled variables: steering angle and velocity. This paper comprises two parts. First, the behavior planning for the task of intelligent cruise control is proposed. The...

in this paper an optimal controller is proposed for a self-balancing electrical vehicle called segway pt. this vehicle has one platform and two wheels on the sides and the rider stands on the platform. a handlebar, as a navigator, is attached to the body of segway, with which the rider controls the vehicle. since segway uses electrical energy produced by batteries, resource consumption manageme...

In this paper we present a novel approach to the design of reference tracking controllers for constrained, discrete-time piecewise affine systems and apply it to a vehicle yaw control problem. The paper is divided in two parts. In the first part, we present a methodology for designing reference tracking controllers for constrained, discrete-time piecewise affine systems. The approach follows th...

The use of model-based controller or fault diagnosis systems in automotive control requires reliable dynamics models. The reliability consists in accurate prediction of the vehicle’s behavior, in order to evaluate current driving situations. Model parameters have to be precisely identified. This depends on the model’s capability to reproduce the complex dynamics of the real system, by remaining...