This paper presents an active steering system designed to ensure both the curving performance and running stability of a vehicle. Electro-hydraulic actuators installed in place anti-yaw dampers generate yaw moment between carbody bogie. The detects curves with gyroscopes mounted on configuration enables reduction wheel/rail lateral force without requiring complicated mechanical links bogies. al...

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...

Over the last few decades, congested traffic network have become a serious problem in many countries. Congestions result in time losses, increase of fuel consumption, increase of CO2 emissions and also raise the risk of accidents. While developing the road networks is not a feasible solution in many countries, intelligent transportation systems (ITS) may contribute to mitigate such problems. It...

In this study, to improve the accuracy of path tracking in intelligent vehicles, we propose an vehicle path-tracking control method based on improved model predictive (MPC) combined with hybrid proportional-integral-derivative (PID) theory. lateral control, a constraint side deflection front wheel is added traditional MPC and relaxation factor introduced stability for driving stability. longitu...

Due to some key state parameters of vehicle handling stability control are difficult to measure directly, the state optimization estimation algorithm of multi-sensor linear combination based on Strong Tracking Filter (STF) was proposed. Four degrees of freedom vehicle nonlinear dynamics model including longitudinal, lateral and roll motion were established. With the estimator of multi-sensors i...

Abstract: This paper deals with the robust lateral control to improve vehicle dynamic behavior. Bounded variations on longitudinal speed, front and rear tire stiffnesses are considered allowing the vehicle model to form a polytope of linear systems. In fact, the vehicle model depends affinely on the longitudinal speed and its inverse. Taking this dependence into account, the polytope is associa...

Active steering system of railway vehicles has proven its ability to bridge the gap between stability and curve friendliness. Generally scaled railway vehicles were developed to reproduce the fundamental dynamic behavior of the full size railway vehicle in laboratory conditions. This paper describes the design of the braking/traction control systems as a part of a 1/5 scaled railway vehicle for...

Six-wheel drive (6WD) articulated dump truck has excellent passing ability and high productivity, but its stability should be improved. A dynamic model of 6WD articulated vehicle with 3 degree-of-freedom (DOF) is established. With the control variables of yaw velocity and side-slip angle at mass center of front body, a feedfoward-feedback control system is designed by linear quadratic regulator...

This article presents methods for estimating lateral vehicle velocity and tire cornering stiffness, which are key parameters in vehicle dynamics control, using lateral tire force measurements. Lateral tire forces acting on each tire are directly measured by load-sensing hub bearings that were invented and further developed by NSK Ltd. For estimating the lateral vehicle velocity, tire force mode...

Lateral velocity has very backbone position in the railway vehicle wheelset dynamics as it usually becomes cause of derailment by sliding due to insufficient adhesion ratio. This impropriate balance is pretext owing to contamination and weather procures the disturbances. This perturbation makes hindrances in proper running of wheelset on track. To analyze the noise, Kalman filter is used based ...