For a vehicle equipped with active single-wheel steering, brake, drive and suspension systems a nonlinear vehicle model is presented. On the basis of this model an integrated vehicle dynamics control is developed comprising all of the mentioned chassis actuators to control the plane vehicle motion. The basic control strategy consists in two parts. One part is a flatness based tracking controlle...

An analysis of on-line autonomous robust tracking controller based on variable structure control is presented for an aerospace launch vehicle. Decentralized sliding-mode controller is designed to achieve the decoupled asymptotic tracking of guidance commands upon plant uncertainties and external disturbances. Development and application of the controller for an aerospace launch vehicle during a...

Due to the increasing number of body styles, engine/gear combinations and the variety of modern control systems, the use of simulation techniques becomes more and more important in the development process of classical chassis as well as chassis control systems. Following GM’s Road-Lab-Math (R-L-M) strategy, the number of prototype cars in ongoing and future vehicle programs will be significantl...

This paper deals with the controller design of the vehicle dynamics. In order to ensure the stability of the considered model, we propose an adaptive control law which forces the dynamics behavior to converge toward their equilibrium domain. This approach is based on the Lyapunov stability concept. The effectiveness of such scheme is illustrated by simulation results. Key wordNon linear systems...

Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...

Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...

The use of a modified remote control (RC) model car as a vehicle dynamics testing and development platform is detailed. Vehicle dynamics testing is an important aspect of automotive engineering and it plays a key role during the design and tuning of active safety control systems. Considering the fact that such tests are conducted at great expense, scaled model cars can potentially be used to he...

Title of dissertation: Dynamics and Control of Non-Smooth Systems with Applications to Supercavitating Vehicles Vincent Nguyen, Doctor of Philosophy, 2011 Dissertation directed by: Professor Balakumar Balachandran Department of Mechanical Engineering The subject matter of this dissertation relates to the dynamics of non-smooth vehicle systems, and in particular, supercavitating vehicles. These ...