Non-linear characteristic of tire forces is the main cause of vehicle lateral dynamics instability, while direct yaw moment control is an effective method to recover the vehicle stability. In this paper, an optimal linear quadratic regulator (LQR) controller for roll-yaw dynamics to articulated heavy vehicles is developed. For this purpose, the equations of motion obtained by the MATLAB softwar...

The wind-driven dynamic manipulator is a device which uses the wind tunnel freestream energy to drive multiaxis maneuvers of test models. This paper summarizes work performed using the device in several applications and discusses current work on characterizing the aerodynamics of an X-38 vehicle model in pitch-yaw maneuvers. Previous applications in flow visualization, adaptive control and line...

A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The control development is based on Lyapunov’s direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Nu...

In recent years several Parameter Identification (PID) techniques have been proposed for on-line real-time applications. Historically aircraft parameter estimation has been performed off line using recorded flight data from specifically designed maneuvers. Flight data from the NASA F/A-18 High Alpha Research Vehicle (HARV) aircraft is used for this study and is compared with baseline wind tunne...