Control of vehicle formations has emerged as a topic of significant interest to the controls community. In applications such as microsatellites and underwater vehicles, formations have the potential for greater functionality and versatility than individual vehicles. In this thesis, we investigate two topics relevant to control of vehicle formations: optimal vehicle control and cooperative contr...

Abstract: This paper presents an active Fault Tolerant Control (FTC) strategy for vehicle lateral dynamics. A bicycle vehicle model using small angle approximations is used to represent vehicle behavior. Firstly, the nonlinear lateral vehicle dynamics is approximated by a TakagiSugeno fuzzy model with parametric uncertainties and sensor faults. Secondly a robust H∞ output controller is used. A ...

So-called vehicle dynamics (or controllability and stability) refer to the "running, cornering and stopping" of automobiles, which are the most important and basic performance of automobiles. Therefore, many studies have been undertaken from several points of view all over the world. In this paper, our former studies, which focused on the analysis and modeling of vehicle and tire behavior, the ...

In this paper, a construction of an efficient vehicle control method for an autonomous vehicle using the power wheeled steering (PWS) method by two driving wheels is described. First, the vehicle dynamics using the PWS method is analyzed. Next, an efficient controller for the PWS method is proposed. This controller includes a feedforward compensator which has the inverse dynamics of the vehicle...

This paper examines the benefits of incorporating vehicle dynamics modeling into the design of a diagnostic system for a steer-by-wire vehicle. The use of a model of vehicle dynamics improves the speed and accuracy of the diagnoses, by eliminating a significant source of disturbance input to the steer-by-wire system model. A method for reducing the effects of modeling uncertainty on diagnostic ...

This paper presents the application of Buckingham’s π theorem to scale the powertrain of a High Mobility Multipurpose Wheeled Vehicle (HMMWV) by deriving non dimensional ratios called π parameters. A HIL setup is constructed and the resulting longitudinal dynamics of the scaled vehicle are validated against those of the full scale vehicle. This is performed with the ultimate goal of testing coo...

This article describes the scope of vehicle dynamics control application on micro-scale electric vehicle for enhancing its active safety. The use of in-wheel-motor control in various control objectives as active safety devices are stated in the paper. In the first half of the paper, the control systems for enhancing vehicle dynamics are described. The active front steering by using steer-by-wir...

Hydro-mechanical transmission (HMT) based hybrid hydraulic vehicle architecture is potentially more efficient than other architectures because: 1) it uses the efficient mechanical transmission for partial power transfer, 2) it allows the engine to operate at its most efficient point. The input coupled power split hybrid vehicle being developed is one such example. The increase in degrees of fre...

Many researches on vehicle planar motion stability focus on two degrees of freedom(2DOF) vehicle model, and only the lateral velocity (or side slip angle) and yaw rate are considered as the state variables. The stability analysis methods, such as phase plane analysis, equilibriums analysis and bifurcation analysis, are all used to draw many classical conclusions. It is concluded from these rese...

Recommended Citation Udas, Amit. "Road variability and its effect on vehicle dynamics simulation." MS ii ACKNOWLEDGMENTS I would like to thank everyone who has helped me throughout the course of my Undergraduate and Master's Degree. First, I would like to thank Professor Lea-Dear Chen for supporting and guiding me over the past years throughout my Undergraduate and Master's program. In addition...