This paper suggests a nonlinear control law to stabilize the rolling motion of missiles. Based on the analysis of rolling moment characteristics due to pitch/yaw control cross-coupling, we propose a conjecture that the moment is described by the bilinear form of pitch/yaw acceleration and yaw/pitch control. The conjecture fits a set of wind tunnel test data and leads to a bilinear control law. ...

In electric vehicles that use in-wheel motors, the right and left traction forces become unbalanced if a motor malfunctions by motor lock or loss of traction, generating yaw moment. Control methods were designed to reduce this effect by stopping the motor output on the opposite side of the same axle. By using a prototype “Eliica” car, the maximum yaw rate and lateral acceleration were compared ...

SUMMARY Details are given of the static calibration of a hemispherrcal-headed drfferentral pressure yawmeter, 0.6 to 1.2; rn the Mach number range from the xnstrument has a central pitot pressure hole and two pairs of holes m perpendroular planes for flow directron measurement. The results show that ths sensitivity to yaw (for angles up to 8') as determined from pressure differences between opp...

l −− > leg length M −− > hip mass m −− > midleg mass gamma −− > slope angle Beta −− > potential shaping angle Hdifference between passive slope angle and actual slope gammaL c −− > Lateral control proportional constant Hin functional conserved quantityL d −− > Lateral control bias constant Hin functional conserved quantityL r −− > Yaw control proportional constant Hin functional conserved quant...

The aim of this work is to define and evaluate a “yaw rate error” (YRE) derived from naturalistic driving data to quantify driver steering performance during lane keeping. This measure of lane keeping performance is based on the predicted kinematic control error at any instance. Scope is limited to the demonstration that such a quantity exists, that can be computed from naturalistic driving dat...

This paper treats the question of control of a biorobotic autonomous undersea vehicle (BAUV) in the yaw plane using a biomimetic mechanism resembling the pectoral fins of fish. These fins are assumed to undergo a combined sway-yaw motion and the bias angle is treated as a control input, which is varied in time to accomplish the maneuver in the yaw-plane. The forces and moments produced by the f...

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...

This paper focuses on the problem of lateral stability of four hub-motor-in-wheels drive electric vehicle, 7 DOF (degrees of freedom) vehicle simulation model which is verified by field test is established based on Matlab/Simulink software. On basis of simulated model, BP neural network PID torque distribution controller of lateral stability is proposed. The sideslip angle at mass center and ya...