Torque distribution control is a key technique for four-wheel independent-drive electric vehicles because it significantly affects vehicle stability and handling performance, especially under extreme driving conditions. This paper, which focuses on the global yaw moment generated by both longitudinal lateral tire forces, proposes new to allocate torques motors. The proposed objective function n...

In this paper, we develop a new online walking controller for biped robots, which integrates neural-network estimator and an incremental learning mechanism to improve the control performance in dynamic environment. With aid of iteration algorithm updating, some newly incoming data can be used straightforwardly update into original well-trained model, order avoid time-consuming retraining proced...

The purpose of this study was to determine the source of postural instability in labyrinthectomized cats during lateral head turns. Cats were trained to maintain the head in a forward orientation and then perform a rapid, large-amplitude head turn to left or right in yaw, while standing freely on a force platform. Head turns were biomechanically complex with the primary movement in the yaw plan...

Nonlinear weather optimal control of ships exposed to environmental disturbances is discussed. Emphasis is placed on weather vaning, that is the ship should be orientated such that the moment in yaw due to mean current, wind and wave forces is zero and at the same time maintain a "xed position and heading. The main problem in doing this is that the environmental forces acting on the ship are im...

A 3 degrees of freedom (surge, sway, and yaw) nonlinear controller for path following of marine craft using only two controls is derived using nonlinear control theory. Path following is achieved by a geometric assignment based on a line-of-sight projection algorithm for minimization of the cross-track error to the path. The desired speed along the path can be specified independently. The contr...

This paper proposes a robust gain-scheduled H1 controller for lateral stability control of four-wheelindependent-drive electric vehicles via linear parameter-varying technique. The controller aims at tracking the desired yaw rate and vehicle sideslip angle by controlling the external yaw moment. In the design of controller, uncertain factors such as vehicle mass and tire cornering stiffness in ...

Various methods are presented to control the attitude of satellite due to lack of information of yaw axis attitude so far. In this paper, a new method is used which is more general and is applicable to all types of satellites, with at least one controller. This method is not limited to YAW axis and can control the two other axes as well. One feature of this approach is the ability to be modi...

Aiming at the lateral stability control problem of distributed driven electric vehicles under high speed steering condition, a hierarchical algorithm direct yaw moment is designed. The upper takes 2-DOF vehicle model as reference and uses sliding mode to obtain required by tracking desired velocity side-slip angle. lower optimizes distribution four wheel torque with minimum tire utilization rat...