The paper presents a simple method of tuning a PD controller for controlling the depth of an autonomous underwater vehicle. The non-linear dynamics of the depth of the vehicle are linearised and approximated as an integrating process with deadtime. The PD controller tuning is then done using gain margin specifications. Keywords—Autonomous Underwater Vehicle, Dead-time, integrating process, PD c...

In this paper, a new actuator fault detection and isolation method for a four wheel independent drive electric vehicle is proposed. Also, a controller based on sliding mode control method is proposed for lateral stability of the vehicle. The proposed control method is designed in three high, medium and low levels. At the high-level, the vehicle desired dynamics such as longitudinal speed refere...

This paper proposes an efficient neural network (NN) approach to tracking control of an autonomous surface vehicle (ASV) with completely unknown vehicle dynamics and subject to significant uncertainties. The proposed NN has a single-layer structure by utilising the vehicle regressor dynamics that expresses the highly nonlinear dynamics in terms of the known and unknown dynamic parameters. The l...

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...

Integrated simulation capabilities that are high-fidelity, fast, and have scalable architecture are essential to support autonomous vehicle design and performance assessment for the U.S. Army's growing use of unmanned ground vehicles (UGV). The HMMWV simulation described in this paper embodies key features of the real vehicle, including a complex suspension and steering dynamics, wheel-soil mod...

Flexible flapping wings have garnered a large amount of attention within the micro aerial vehicle community: a critical component of computationalmicro aerial vehicle simulations is the representation of the structural dynamics behavior of the flapping-wing structure. This paper discusses the development of a new nonlinear finite element solver that is based on a corotational approach and suita...

The controllers for active safety systems of motorcycles cannot be synthesized regardless by a suitable analytic dynamic model of the vehicle. Generally the analytical study and analysis of critical driving situations, falls and accidents is a complex task, since these events take place due to the simultaneity of different and complex phenomena. An analytical model able to capture the dynamics ...

A detailed 3D vehicle dynamics benchmark case has been defined, which has been modeled in LMS Virtual.Lab Motion. The simplified models are created in the 1D multiphysics environment of LMS Imagine.Lab Amesim, in which several mathematical vehicle representations have been adopted, tested and functionally correlated with the reference case. Primary importance has been given to the reliability o...

This chapter presents a successful implementation of PID controller for a pneumatically actuated active roll control suspension system in both simulation and experimental studies. For the simulation model, a full vehicle model which consists of ride, handling and tire subsystems to study vehicle dynamics behavior in lateral direction is derived. The full vehicle model is then validated experime...