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Electronic Stability Control (ESC) and Active Front Steering (AFS) have been introduced in production vehicles in recent years, due to improved vehicle maneuverability and the effects in reducing single vehicle accident. We propose a hybrid Model Predictive Control (MPC) design for coordinated control of AFS and ESC. By formulating the vehicle dynamics with respect to the front and rear tire slip...
There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust velocity tracking problem of MWIP systems is investigated in this study. In the velocity control problem, model uncertainties accompany uncertain equilibriums, which make the controller...
A quasi-linear driver model was developed, and a closed loop tractor-semitrailer vehicle system composed of the driver model and a tractor-semitrailer vehicle model of 3-degrees-of-freedom were proposed. The stability of closed loop vehicle system was studied by simulating the system with different parameter values. A roots-locating numerical method was used to identify critical speed of the system...
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