An optimal reconfiguration control scheme based on control allocation CA is proposed to stabilize the yaw dynamics of the tractor-semitrailer vehicle. The proposed control scheme is a twolevel structure consisting of an upper level of sliding mode yaw moment controller SMYC and a lower optimal brake force distributor BFD . The upper SMYC is designed to follow the tractor yaw rate and the combin...

Various methods are presented to control the attitude of satellite due to lack of information of yaw axis attitude so far.&#10In this paper, a new method is used which is more general and is applicable to all types of satellites, with at least one controller. &#10This 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 ...

In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...

This paper proposes an intelligent approach for dynamic identification of the vehicles. The proposed approach is based on the data-driven identification and uses a high-performance local model network (LMN) for estimation of the vehicle’s longitudinal velocity, lateral acceleration and yaw rate. The proposed LMN requires no pre-defined standard vehicle model and uses measurement data to identif...

Nowadays, using advanced vehicle control and safety systems in vehicles is growing rapidly. In this regard, in recent years new control systems, called VDC, have been introduced. These systems stabilize vehicle yaw motion, by yaw moment resulted from tire controlling forces. In this paper, an adaptive optimal controller applied to a vehicle to obtain a satisfactory lateral and yaw stability. To...

in this article, vehicle cornering stability and brake stabilization via bifurcation analysis has been investigated. in order to extract the governing equations of motion, a nonlinear four-wheeled vehicle model with two degrees of freedom has been developed. using the continuation software package matcont a stability analysis based on phase plane analysis and bifurcation of equilibrium is perfo...

This paper describes a unique capacitively-sensed MEMS-based gyroscope, which utilizes rotating carrier rotate as driven force and responds to an external angular rate of yaw due to the Coriolis Effect. The basic construction and operating principles of the gyroscope are described and illustrated. MEMS-based gyroscope output is presented at different yaw angular acceleration. The raw results ob...

Autonomous walking bipedal machines, possibly useful for rehabilitation and entertainment purposes, need a high energy efficiency, offered by the concept of ‘Passive Dynamic Walking’ (exploitation of the natural dynamics of the robot). 2D passive dynamic bipeds have been shown to be inherently stable, but in the third dimension two problematic degrees of freedom are introduced: yaw and roll. We...

A Steer-By-Wire (SBW) control scheme is proposed for enhancing the lateral stability and handling capability of a super lightweight vehicle by using the energy optimal control method. Tire dissipation power and virtual power, which is the product of yaw moment and the deviation of actual yaw rate from the target yaw rate, were selected as performance measures to be minimized. The SBW control sc...

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...