abstract: in this work, an optimal control scheme with adaptive weighting coefficients is presented which coordinates different vehicle dynamics control objectives, thus ruling out possible conflicts among them. in a new approach, the weighting coefficients in optimal control are adjusted according to the vehicle state in the phase plane in such a way that a priority is given to each objective ...

The lateral instabilities of vehicles are well-known phenomena, see for example, the shimmy motions of bikes, motorbikes or the steered wheels of cars. Another interesting phenomenon is the snaking motion of the skateboard-skater system that is analyzed in this study. A mechanical model of the downhill skateboarding is constructed in order to consider the effect of the slope angle on the stabil...

Abstract The direct construction of Lypunov functions is achieved using a new set construction method by which system trajectories are warped to form level sets for the functions. Applications to linear and nonlinear second order systems are demonstrated, including the stability analysis of a nonlinear guidance law for UAVs. Analysis of nonlinear systems with bounded inputs is also achieved by ...

Solving the stability region in plane motion of vehicles has become a hot research topic vehicle handling under extreme conditions, but there is still lack on steering and braking conditions. In this paper, five-degree-of-freedom (5DOF) nonlinear dynamic model with torque introduced established, transformed into an equivalent system by using D’Alembert principle. Then, equilibrium points are so...