The paper presents the design of a lateral stability controller for ground vehicles based on front steering and four wheels independent braking. The control objective is to track yaw rate and lateral velocity reference signals while avoiding front and rear wheel traction force saturation. Control design is based on an approximate piecewise–affine nonlinear dynamical model of the vehicle. Vehicl...

Abstract It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering poor under high-speed and large-curvature conditions. In this study, an adaptive control strategy coordinates direct yaw moment proposed model predictive algorithm. The recursive least square method with forgetting factor used to identify rear tire cornering stiffness updat...

In the paper an adaptive linear control system structure with modal controllers for a MIMO nonlinear dynamic process is presented and various methods for synthesis of those controllers are analyzed. The problems under study are exemplified by the synthesis of a position and yaw angle control system for a drillship described by a 3DOF nonlinear mathematical model of low-frequency motions made by...

In this paper we address the design of a fuzzy flight controller that achieves stable and robust “aggressive” manoeuvrability for an unmanned helicopter. The fuzzy flight controller proposed consists of a combination of a fuzzy gain scheduler and linguistic (Mamdani-type) controller. The fuzzy gain scheduler is used for stable and robust altitude, roll, pitch, and yaw control. The linguistic co...

This paper proposes a robust gain-scheduled H1 controller for lateral stability control of four-wheelindependent-drive electric vehicles via linear parameter-varying technique. The controller aims at tracking the desired yaw rate and vehicle sideslip angle by controlling the external yaw moment. In the design of controller, uncertain factors such as vehicle mass and tire cornering stiffness in ...

BACKGROUND Most cases of facial asymmetry involve yaw deformity, and determination of the yaw correction level is very difficult. METHODS We use three-dimensional soft tissue simulation to determine the yaw correction level. This three-dimensional simulation is based on the addition of cephalometric prediction to gradual yaw correction. Optimal yaw correction is determined visually, and an in...

COMPENSATION FOR A SMALL UNMANNED HELICOPTER Alexander Bogdanov , Eric Wan OGI School of Science and Engineering, OHSU 20000 NW Walker Rd, Beaverton, Oregon 97006 In this paper we report on the state-dependent Riccati equation (SDRE) control of a small unmanned helicopter for autonomous agile maneuvering. SDRE control requires reformulation of the vehicle dynamics into a pseudo-linear form. For...

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...