— This paper describes an active stability control system for a high-speed railway vehicle. The complete design process is described, starting with generating mathematical models of the system for control system design and for system validation. The control strategy is briefly outlined along with the necessary refinements required for practical implementation. Some brief results for the stabili...

This paper presents an experimental analysis of a recently proposed decentralized control strategy, for collective circular motion of a team of nonholonomic vehicles. Theoretical results ensuring global asymptotic stability in the single-vehicle case and local asymptotic stability in the multi-vehicle scenario, are validated on an experimental setup including the mobile robots Pioneer 3AT and N...

In recent years, efforts have been made to deploy communication capabilities in vehicles and the transport infrastructure, leading to a potential of vehicular ad hoc networks (VANETs). In the envisioned VANET, communications among vehicles will enhance the intelligent transportation systems (ITS) and support not only public-safety applications, but also a wide range of infotainment applications...

In this work, we present a form of extremum seeking (ES) in which the unknown function being minimized enters the system’s dynamics as the argument of a cosine or sine term, thereby guaranteeing known bounds on update rates and control efforts. We present general n-dimensional optimization and stabilization results as well as 2D vehicle control, with bounded velocity and control efforts. For ap...

A Functional Virtual Prototyping full vehicle model for a tri-axial heavy-duty truck is built, and the nonlinearity of suspension dampers and tires is also considered. With the trajectory of full vehicle gravity center, longitudinal tire force of front wheel, longitudinal acceleration, lateral acceleration, yaw rate and pitch angle as the evaluation indexes of brake property, the influences of ...

Non-linear characteristic of tire forces is the main cause of vehicle lateral dynamics instability, while direct yaw moment control is an effective method to recover the vehicle stability. In this paper, an optimal linear quadratic regulator (LQR) controller for roll-yaw dynamics to articulated heavy vehicles is developed. For this purpose, the equations of motion obtained by the MATLAB softwar...

Nowadays the size and dimension of mobile manipulators have been decreased for being usable in various regions. This leads several problems such as danger of instability. Therefore, many researches have been done to overcome the problem of overturning of a mobile manipulator. In this paper, an algorithm for increasing the stability of a mobile manipulator is presented based on the optimization ...

Maneuverability describes a vehicle’s ability to change course or turn. Maneuverability of conventional underwater vehicles, such as torpedoes, can be determined by altering the position and length of control fins. To perform large-area surveying tasks, autonomous underwater vehicles (AUVs) generally require different maneuverability characteristics in their vertical and horizontal planes of mo...

the previous studies show that a high percentage of traffic accidents take place in two-lane rural highways and most of which happen at horizontal curves. meanwhile the horizontal alignment is often subject to hard topographic conditions where because of economic aspects designers are forced to design horizontal curves at grades. vertical angle of longitudinal slope reduces the normal force of ...