Abstract: Robust decoupling of the lateral and yaw motions of a car has been achieved by feedback of the integrated yaw rate into front wheel steering. In the present paper the yaw disturbance attenuation is analyzed for a generic single-track vehicle model. The frequency limit, up to which yaw disturbances are attenuated, is calculated. For specific vehicle data, it is shown that this control ...

A wheel slip controller for Anti-lock Brake Systems (ABS) is designed using LQ-optimal control. The controller gain matrices are gain scheduled on the vehicle speed. A parameter dependent Lyapunov function for the nominal linear parameter varying (LPV) closed loop system is found by solving a linear matrix inequality (LMI) problem. This Lyapunov function is used to investigate robustness with r...

The purpose of this research was to developed a program in visual basic software for predicting tractor implement performance combination. A conventional tillage system with mounted mouldboard plough and three bottoms used collect data from Chery (Model RM750) four-wheel drive. soil texture class were determined laboratory. Soil cone index value measured using SpotOn digital compaction meter. o...

This paper is concerned with the problem of finding a time-optimal velocity profile along the predefined path for static formations of mobile robots in order to traverse the path in shortest time and to satisfy, for each mobile robot in the formation, velocity, acceleration, tip over and wheel slip prevention constraints. Time-optimal velocity planning is achieved using so called bang-bang cont...

—— This paper describes the preliminary research and implementation of an experimental test bench set up for an electric vehicle Antilock Braking System (ABS)/Traction Control System (TCS) representing the dry, wet and icy road surfaces. A Fuzzy logic based controller to control the wheel slip for electric vehicle antilock braking system is presented. The test facility comprised of an induction...

It is often difficult to measure all necessary parameters directly in the current stability control systems. This paper presents a nonlinear observer to estimate vehicle’s yaw rate, lateral acceleration, tire side slip angles and the road friction coefficient based on the measurement signals of the Electric Power Steering (EPS) system and the Anti-lock Braking System (ABS). The performances of ...

This paper focuses on the development of a robust fuzzy sliding-mode scheme for controlling a vehicle motion system by continuously adjusting the brake torque, Fuzzy logic known for its properties of universal approximator and sliding mode control for its robustness in the presence of parameter variations and the disturbances are employed to control the wheel slip rate in emergency braking mane...

Planetary rovers are different from conventional terrestrial vehicles in many respects, making it necessary to investigate the terramechanics with a particular focus on them, which is a hot research topic at the budding stage. Predicting the wheel–soil interaction performance from the knowledge of terramechanics is of great importance to the mechanical design/evaluation/optimization, dynamics s...

Abstract By modifying friction to the desired level, application of modifiers (FMs) has been considered as a promising emerging tool in railway engineering for increasing braking/traction force poor adhesion conditions and mitigating wheel/rail interface deterioration, energy consumption, vibration noise. Understanding effectiveness FMs wheel–rail dynamic interactions is crucial their proper ap...

Four-wheel independent drive electric vehicles have become the latest development trend of due to their simple structure and high control accuracy. Aiming at sliding problem four-wheel driving in process, a anti-skid strategy is designed. The includes two contents: (1) road recognition module that tracks best slip rate real time; (2) uses fuzzy PID control. Then, based on Carsim MATLAB/Simulink...