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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...
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...
Aqua is an underwater biomimetic vehicle designed and built at McGill University that uses six paddles to produce control and propulsion forces. It has the particularity of having time-periodic thrust due to its oscillating paddles. Using an existing dynamics model of the vehicle and a numerical simulation, three types of controllers were developed to provide trajectory tracking capabilities to the...
This paper is focusing on rollover prevention to provide a heavy vehicle with the ability to resist overturning moments generated during cornering. A combined yaw-roll model including the roll dynamics of unsprung masses is studied. This model is nonlinear with respect to the velocity of the vehicle. In our model the velocity is handled as an LPV scheduling parameter. The linear parameter-varying...
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