Relevant bibliographies by topics / Lateral Stability Control

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
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Academic literature on the topic 'Lateral Stability Control'

Author: Grafiati
Published: 10 March 2023

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Journal articles on the topic "Lateral Stability Control"

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Alves, Jorge Augusto Vasconcelos, Caio Igor Goncalves Chinelato, and Bruno Augusto Angelico. "Vehicle Lateral Stability Regions for Control Applications." IEEE Access 10 (2022): 87787–802. http://dx.doi.org/10.1109/access.2022.3199752.

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Emırler, M. T., K. Kahraman, M. Şentürk, O. U. Acar, B. Aksun Güvenç, L. Güvenç, and B. Efendıoğlu. "Lateral stability control of fully electric vehicles." International Journal of Automotive Technology 16, no. 2 (March 10, 2015): 317–28. http://dx.doi.org/10.1007/s12239-015-0034-1.

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Jo, J. S., S. H. You, J. Y. Joeng, K. I. Lee, and K. Yi. "Vehicle stability control system for enhancing steerabilty, lateral stability, and roll stability." International Journal of Automotive Technology 9, no. 5 (October 2008): 571–76. http://dx.doi.org/10.1007/s12239-008-0067-9.

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Zhou, Shu Wen, Hai Shu Chen, Si Qi Zhang, and Li Xin Guo. "Vehicle Dynamics Control for Tractor Semitrailer Lateral Stability." Applied Mechanics and Materials 16-19 (October 2009): 544–48. http://dx.doi.org/10.4028/www.scientific.net/amm.16-19.544.

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Rollover and jack-knifing of tractor semitrailer on high speed obstacle avoidance under emergency are serious threats for motorists. A tractor semitrailer model was built with multi-rigid-body method in this paper. The steering performance of tractor semitrailer has been analyzed, as well as the stability control theory, including yaw rate following, anti-rollover. The dynamics simulation for yaw rate following and anti-rollover has been performed on the dynamic tractor semitrailer. The results show that the vehicle dynamics control proposed in this paper can stabilize the tractor semitrailer, rollover and jack-knifing are prevented and the tractor semitrailer more accurately follows the driver's desired path.
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Klein, Ralf, Ulrich Demi, and Thomas Brandmeier. "Improvement of Vehicle Stability Through Lateral Dynamics Control." IFAC Proceedings Volumes 30, no. 7 (June 1997): 83–87. http://dx.doi.org/10.1016/s1474-6670(17)43244-7.

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Chen, Wuwei, Rongyun Zhang, Linfeng Zhao, Hongbo Wang, and Zhenya Wei. "Control of chaos in vehicle lateral motion using the sliding mode variable structure control." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, no. 4 (February 6, 2018): 776–89. http://dx.doi.org/10.1177/0954407017753529.

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A 3-degree of freedom (DOF) nonlinear model including yaw, lateral, and roll motions was constructed, and a numerical simulation of chaotic behavior was performed using the Lyapunov exponent method. The vehicle motion is complex, manifesting double-periodic, quasi-periodic, and chaotic phases, which negatively affects the vehicle lateral stability. To control this chaotic behavior, a controller was designed based on the sliding mode variable structure control (SM-VSC) method. To decrease chattering and further improve lateral stability of the vehicle under extreme operating conditions, the adaptive power reaching law was realized by using a fuzzy control method. The performance of the SM-VSC system was simulated by using Matlab/simulink. The simulation results including the uncontrol, SM-VSC control, and adaptive-reaching SM-VSC control were compared, which demonstrated that the adaptive-reaching SM-VSC control method is more effective in suppressing the chaotic phase of the vehicle lateral motion. The approach proposed in this paper can significantly improve a vehicle’s lateral stability under extreme operating conditions.
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Song, Bongsob, J. Karl Hedrick, and Yeonsik Kang. "Dynamic Surface Control and Its Application to Lateral Vehicle Control." Mathematical Problems in Engineering 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/693607.

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This paper extends the design and analysis methodology of dynamic surface control (DSC) in Song and Hedrick, 2011, for a more general class of nonlinear systems. When rotational mechanical systems such as lateral vehicle control and robot control are considered for applications, sinusoidal functions are easily included in the equation of motions. If such a sinusoidal function is used as a forcing term for DSC, the stability analysis faces the difficulty due to highly nonlinear functions resulting from the low-pass filter dynamics. With modification of input variables to the filter dynamics, the burden of mathematical analysis can be reduced and stability conditions in linear matrix inequality form to guarantee the quadratic stability via DSC are derived for the given class of nonlinear systems. Finally, the proposed design and analysis approach are applied to lateral vehicle control for forward automated driving and backward parallel parking at a low speed as well as an illustrative example.
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Sharp, Robin S. "On the stability and control of unicycles." Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences 466, no. 2118 (January 20, 2010): 1849–69. http://dx.doi.org/10.1098/rspa.2009.0559.

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A mathematical model of a unicycle and rider, with a uniquely realistic tyre force and moment representation, is set up with the aid of multibody modelling software. The rider’s upper body is joined to the lower body through a spherical joint, so that wheel, yaw, pitch and roll torques are available for control. The rider’s bandwidth is restricted by low-pass filters. The linear equations describing small perturbations from a straight-running state are shown, which equations derive from a parallel derivation yielding the same eigenvalues as obtained from the first method. A nonlinear simulation model and the linear model for small perturbations from a general trim (or dynamic equilibrium) state are constructed. The linear model is used to reveal the stability properties for the uncontrolled machine and rider near to straight running, and for the derivation of optimal controls. These controls minimize a cost function made up of tracking errors and control efforts. Optimal controls for near-straight-running conditions, with left/right symmetry, and more complex ones for cornering trims are included. Frequency responses of some closed-loop systems, from the former class, demonstrate excellent path-tracking qualities within bandwidth and amplitude limits. Controls are installed for path-following trials. Lane-change and clothoid manoeuvres are simulated, demonstrating good-quality tracking of longitudinal and lateral demands. Pitch torque control is little used by the rider, while yaw and roll torques are complementary, with the former being more useful in transients, while the latter has value also in steady states. Wheel torque is influential on lateral control in turning. Adaptive control by gain switching is used to enable clothoid tracking up to lateral accelerations greater than 1 m s −2 . General control of the motions of a virtual or robotic unicycle will be possible through the addition of more comprehensive adaptation to the control scheme described.
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Xie, Yunfeng, Cong Li, Hui Jing, Weibiao An, and Junji Qin. "Integrated Control for Path Tracking and Stability Based on the Model Predictive Control for Four-Wheel Independently Driven Electric Vehicles." Machines 10, no. 10 (September 26, 2022): 859. http://dx.doi.org/10.3390/machines10100859.

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Four-wheel independently driven electric vehicles are prone to rollover when driving at high speeds on high-adhesion roads and to sideslip on low-adhesion roads, increasing the risks associated with such vehicles. To solve this problem, this study proposes a path tracking and stability-integrated controller based on a model predictive control algorithm. First, a vehicle planar dynamics model and a roll dynamics model are established, and the lateral velocity, yaw rate, roll angle, and roll angle velocity of the vehicle are estimated based on an unscented Kalman filter. The lateral stiffness of the tires is estimated online according to the real-time feedback state of the vehicle. Then, the path tracking controller, roll stability controller, and lateral stability controller are designed. An integrated control strategy is designed for the path tracking and stability, and the conditions and coordination strategies for the vehicle roll and lateral stability state in the path tracking are studied. The simulation results show that the proposed algorithm can effectively limit the lateral load transfer rate on high-adhesion roads and the sideslip angle on low-adhesion roads at high speeds. Hence, the driving stability of the vehicle under different road adhesion coefficients can be ensured and the path tracking performance can be improved.
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Cai, Haohao, and Xiaomei Xu. "Lateral Stability Control of a Tractor-Semitrailer at High Speed." Machines 10, no. 8 (August 20, 2022): 716. http://dx.doi.org/10.3390/machines10080716.

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To improve the high-speed lateral stability of the tractor-semitrailer, a lateral stability control strategy based on the additional yaw moment caused by differential braking is proposed and investigated based on the co-simulation environment. First of all, a five-degree-of-freedom (5-DOF) yaw-roll dynamic model of the tractor-semitrailer is established, and the model accuracy is verified. Secondly, the lateral stability control strategy of the tractor-semitrailer is proposed, two yaw moment controllers and the braking torque distributor are designed. Then, the effectiveness of the proposed control strategy and the influence of the yaw moment controller on the lateral stability of the tractor-semitrailer are investigated under the high-speed lane-change maneuvers. Finally, the controller robustness is discussed. Research results show that the proposed high-speed lateral stability control strategy can ensure the tractor-semitrailer to perform safely the single lane-change (SLC) maneuver at 110 km/h and the double lane-change (DLC) maneuver at 88 km/h; the yaw moment controller has significant influence on the lateral dynamic performance of the tractor-semitrailer; compared with the proportional-derivative (PD) control, the model predictive control (MPC) can make the tractor-semitrailer obtain better lateral stability under high-speed lane-change maneuvers; MPC and PD controllers exhibit good robustness to the considered vehicle parameter uncertainties.
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Dissertations / Theses on the topic "Lateral Stability Control"

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Sims, Kevin Joseph. "Neuromuscular control of medio-lateral postural stability in unilateral hip osteoarthritis /." St. Lucia, Qld, 2003. http://www.library.uq.edu.au/pdfserve.php?image=thesisabs/absthe17510.pdf.

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Firmo, Felipe. "Análise da estabilidade direcional através de prototipagem virtual e sistema ativo de controle lateral." Universidade de São Paulo, 2005. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-10012006-095110/.

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Características de dirigibilidade de um veículo automotivo foram estudadas com o auxílio de uma ferramenta computacional para simulação de sistemas multicorpos integrado a um controle de estabilidade direcional virtual. O modelo do veículo simplificado utilizado, de três graus de liberdade, proporciona o cálculo em tempo real das grandezas utilizadas para o controle de atitude de veículos, como velocidade em guinada e ângulo de deriva. Por isso, sua utilização como modelo de referência. O controle desenvolvido se mostrou bastante confiável e suficientemente simples. Os resultados mostraram boa aproximação através de uma avaliação subjetiva do comportamento do veículo. Finalmente, pode ser observado que o uso de ferramentas com uma interface amigável com o usuário proporcionam tempos de desenvolvimento mais curtos e estudos paramétricos mais fáceis, possibilitando ao projetista alcançar as características desejadas do veículo com custos muito menores
Handling characteristics of an automotive vehicle were studied with the aid of a computational tool for mutibody system simulation integrated to a virtual directional stability control. The simplified vehicle model used, a three degrees of freedom model, makes possible the real time calculus of the parameters used in the yaw active control systems, like yaw rate and vehicle sideslip angle. Due to that, the use of it as a reference model. The developed control strategy is enough credible and sufficiently simple. Results showed good agreement through the subjective vehicle evaluation. Finally, it can be observed that the use of a tool with a user friendly interface makes development times shorter and parametric studies easier, enabling the designer to achieve the desired vehicle characteristics control much less costly
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Mohan, Anant. "Nonlinear Investigation of the Use of Controllable Primary Suspensions to Improve Hunting in Railway Vehicles." Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/33740.

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Hunting is a very common instability exhibited by rail vehicles operating at high speeds. The hunting phenomenon is a self excited lateral oscillation that is produced by the forward speed of the vehicle and the wheel-rail interactive forces that result from the conicity of the wheel-rail contours and the friction-creep characteristics of the wheel-rail contact geometry. Hunting can lead to severe ride discomfort and eventual physical damage to wheels and rails. A comprehensive study of the lateral stability of a single wheelset, a single truck, and the complete rail vehicle has been performed. This study investigates bifurcation phenomenon and limit cycles in rail vehicle dynamics. Sensitivity of the critical hunting velocity to various primary and secondary stiffness and damping parameters has been examined. This research assumes the rail vehicle to be moving on a smooth, level, and tangential track, and all parts of the rail vehicle to be rigid. Sources of nonlinearities in the rail vehicle model are the nonlinear wheel-rail profile, the friction-creep characteristics of the wheel-rail contact geometry, and the nonlinear vehicle suspension characteristics. This work takes both single-point and two-point wheel-rail contact conditions into account. The results of the lateral stability study indicate that the critical velocity of the rail vehicle is most sensitive to the primary longitudinal stiffness. A method has been developed to eliminate hunting behavior in rail vehicles by increasing the critical velocity of hunting beyond the operational speed range. This method involves the semi-active control of the primary longitudinal stiffness using the wheelset yaw displacement. This approach is seen to considerably increase the critical hunting velocity.
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Vieira, Januário Leal de Moraes. "Estudo de dirigibilidade de veículos longos combinados." Universidade de São Paulo, 2010. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-19012011-101607/.

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Apresenta um modelo completo em sistemas multicorpos de uma combinação veicular formada por um cavalo mecânico e um semi-reboque para um estudo de dirigibilidade. O modelo multicorpos foi desenvolvido no MSC.Adams/Car e inclui a suspensão primária, sistema de direção, trem de força, modelo de pneu e um quadro flexível para o cavalo mecânico, e a suspensão primária, modelo de pneu e quadro rígido para o semi-reboque. A resposta dinâmica lateral de uma composição veicular depende das características combinadas de estabilidade direcional, dirigibilidade e interação pneu/pavimento da unidade motora e da unidade rebocada. Os parâmetros mais importantes em relação à dinâmica lateral dos veículos longos combinados são: a velocidade longitudinal, o concerning stiffness dos pneus da combinação veicular, as elasticidades dos sistemas de suspensão e esterçamento do cavalo mecânico, a localização, distribuição do carregamento e momento de inércia em guinada da unidade movida e transferência lateral de carga do veículo como um todo. O modelo foi validado no âmbito dos modos de vibração. As análises de dirigibilidade foram realizadas mediante execução de manobras de mudança simples de pista e de esterçamento com entrada rampa, no MSC.Adams/Car, para calcular métricas comumente utilizadas para avaliação da dinâmica lateral de veículos longos combinados como aceleração lateral, velocidade de guinada, offtracking dinâmico e o gradiente de esterçamento. Análises dos resultados mostraram a influência no tempo de resposta, em regime transitório, do cavalo quando atrelado ao semi-reboque e um comportamento sub-esterçante nas velocidades longitudinais simuladas. A combinação veicular utilizada para este estudo apresenta um comportamento direcional estável.
This work presents a complete multibody model of a heavy articulated vehicle with a tractor and a semitrailer for handling study purposes. The model had been developed on MSC.Adams/Car and includes primary suspension system, steering system, powertrain, tire model and a flexible frame for tractor, suspension system, tire model and a rigid frame for semitrailer. The lateral dynamics response of a heavy articulated vehicle depends on tractor/semitrailer combined characteristics of the directional stability, the manouverability and the tire/road interaction. The most important parameters concerning of the lateral dynamics of heavy articulated vehicles are: longitudinal velocity, combined tire cornering stiffness of vehicular composition, suspensions systems compliance and steering system compliance of tractor, location, load distribution and yaw moment of towing unit and vehicle overall lateral load transfer. The model was validated about modal shapes and frequencies vibrations. Handling analyses had performed with single lane change and ramp steer maneuvers simulation on MSC.Adams/Car to calculate common measures for heavy articulated vehicles lateral dynamics evaluation as lateral acceleration, yaw velocity, dynamic offtracking and understeer gradient. The results analyses showed that the towing unit influences on response of the tractor and an understeer behavior of all vehicular composition over longitudinal velocity range simulated. The heavy articulated vehicle used on this study shows a stable directional behavior.
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Mourad, Lama. "Contrôle actif de l'accélération latérale perçue d'un véhicule automobile étroit et inclinable." Phd thesis, Ecole des Mines de Nantes, 2012. http://tel.archives-ouvertes.fr/tel-00787310.

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Les Véhicules Etroits et Inclinables (VEI) sont la convergence d'une voiture et d'un motocycle. Un mètre de largeur seulement suffit pour transporter une ou deux personnes en Tandem. Les VEI sont conçus dans le but de résoudre partiellement les problèmes de trafic routier, de minimiser la consommation énergétique et l'émission de polluants. De par leurs dimensions(ratio hauteur/largeur), ces véhicules doivent s'incliner en virage pour rester stable en compensant l'effet de l'accélération latérale. Cette inclinaison doit dans certains cas être automatique : elle peut être réalisée à l'aide d'un couple d'inclinaison généré par un actionneur dédié (système DTC), soit encore en modulant l'angle de braquage des roues (Système STC). Nous avons proposé dans ce mémoire une méthodologie de synthèse d'un régulateur structuré minimisant la norme H2 d'un problème bien posé au bénéfice d'une régulation optimisée de l'accélération latérale, considérant tour à tour les systèmes DTC et STC. Les régulateurs proposés sont paramétrés par la vitesse longitudinale et s'avèrent performants et robustes, et les moyens de réglages proposés permettent d'étudier l'intérêt relatif d'une solution DTC pure ou mixte DTC/STC, permettant de supporter les développements futurs sur le sujet. L'originalité des solutions proposées en regard des études rencontrées dans la littérature porte en particulier sur le fait de choisir de réguler directement l'accélération latérale perçue (plutôt que l'angle d'inclinaison), en anticipant la prise de virage par la prise en compte des angles et vitesse de braquage. L'optimisation de la régulation permet de réduire de manière importante le couple d'inclinaison requis, et l'accélération latérale subie par les passagers est faible. Tous les développements proposés s'appuient naturellement en amont sur un travail de modélisation (recherche du modèle juste nécessaire), et de bibliographie conséquent. Le modèle retenu comprend 5 degrés de libertés. Nous avons démontré qu'il possédait la propriété intéressante d'être plat, et avons utilisé cette propriété pour ouvrir des perspectives relatives à la conception d'un régulateur non-linéaire robuste, susceptible apriori d'accroître les performances dans le cas de " grands mouvements ". Au contraire de ce qui existe dans la littérature,le régulateur multivariable conçu pour le système SDTC permet le contrôle coordonné des actions sur les systèmes STC et DTC.
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Termous, Hussein. "Approche hiérarchisée pour le contrôle global du châssis d'un véhicule électrique." Thesis, Bordeaux, 2020. http://www.theses.fr/2020BORD0081.

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Le transport routier évolue considérablement vers l’électrification dans le monde entier. Un marché pour les solutions de mobilité légère électrifiée a émergé. Les dispositifs à transmission intégrale joue un rôle important dans cette nouvelle tendance. Cette technologie offre de nouvelles opportunités et pose de nouveaux défis dans le contrôle de châssis globale « Global Chassis Control (GCC) » qui a récemment atteint des niveaux remarquables. Cette étude présente une approche de supervision pour le contrôle vertical, longi-tudinal et latéral dans les véhicules électriques légers. Le système de contrôle développé repose sur la méthode CRONE qui peut assurer la robustesse du degré de stabilité contre les variations paramétriques du système. Pour la dynamique verticale, diverses solutions de contrôle sont développées pour les suspensions automobiles afin d’améliorer le confort des passagers et la tenue de route. Pour la dynamique longitudinale, une étude de la fonction ABS est réalisée pour l’amélioration du système de freinage, tenant en compte l’effet de la dynamique verticale. Ensuite, une combinaison de contrôle ABS et de contrôle de suspension est présentée dans le but de réduire l’effet de détérioration de la dynamique vertical. Enfin, les travaux portent sur le dé-veloppement du contrôle latéral de la stabilité du véhicule, où l’effet de la dynamique verticale du véhicule est analysé. Les résultats obtenus permet-tent de vérifier l’efficacité des stratégies de contrôle conçues pour améliorer le confort, la maniabilité et la sécurité du véhicule. En outre, la bonne com-préhension de l’influence de la dynamique verticale, ainsi que le rôle clé de la suspension contrôlée sur les autres dynamiques du véhicule, ouvrira de nouveaux horizons pour le développement de nouvelles stratégies pour le contrôle global du châssis des véhicules électriques légers
Road transportation is shifting significantly toward electrification around the globe. A market for light electric mobility solutions had emerged where all-in-wheel devices are expected to play an important role in this new trend. This technology offers new opportunities and raises new challenges in Global Chassis Control (GCC) that rises, recently, to remarkable levels. This study is based on a supervision control approach for vertical, longitudinal, and lateral control in light electric vehicles. The developed control system designs rely on the CRONE method which can ensure the robustness of the stability degree against the system parametric variations. For vertical dynamics, various control solu-tions are developed for automotive suspensions to improve passenger comfort and road holding. For longitudinal dynamics, a study for the ABS function is done for braking system enhancement while considering the effect of the vertical dynamics. Then, a combination of ABS control and suspension control is presented in the sense of reducing the deterioration effect of vertical dynamics. Finally, the work is concerned by the development of vehicle lateral stability control, where the effect of the vehicle vertical dynamics was analyzed. The obtained results verify the effectiveness of the designed control strategies in enhancing the vehicle comfort, handling, and safety. Moreover, the well understanding of the influence of the vertical dynamics, as well as the key role of the controlled suspension on other vehicle dynamics, will open up new prospects to the development of new strategies for global chassis control of light electric vehicle
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Guillet, Audrey. "Commande locale décentralisée de robots mobiles en formation en milieu naturel." Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22609/document.

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La problématique étudiée dans cette thèse concerne le guidage en formation d’une flotte de robots mobiles en environnement naturel. L’objectif poursuivi par les robots est de suivre une trajectoire connue (totalement ou partiellement) en se coordonnant avec les autres robots pour maintenir une formation décrite comme un ensemble de distances désirées entre les véhicules. Le contexte d’évolution en environnement naturel doit être pris en compte par les effets qu’il induit sur le déplacement des robots. En effet, les conditions d’adhérence sont variables et créent des glissements significatifs des roues sur le sol. Ces glissements n’étant pas directement mesurables, un observateur est mis en place, permettant d’obtenir une estimation de leur valeur. Les glissements sont alors intégrés au modèle d’évolution, décrivant ainsi un modèle cinématique étendu. En s’appuyant sur ce modèle, des lois de commande adaptatives sur l’angle de braquage et la vitesse d’avance d’un robot sont alors conçues indépendamment, asservissant respectivement son écart latéral à la trajectoire et l’interdistance curviligne de ce robot à une cible. Dans un second temps, ces lois de commande sont enrichies par un algorithme prédictif, permettant de prendre en compte le comportement de réponse des actionneurs et ainsi d’éviter les erreurs conséquentes aux retards de la réponse du système aux commandes. À partir de la loi de commande élémentaire en vitesse permettant d’assurer un asservissement précis d’un robot par rapport à une cible, une stratégie de commande globale au niveau de la flotte est établie. Celle-ci décline l’objectif de maintien de la formation en consigne d’asservissement désiré pour chaque robot. La stratégie de commande bidirectionnelle conçue stipule que chaque robot définit deux cibles que sont le robot immédiatement précédent et le robot immédiatement suivant dans la formation. La commande de vitesse de chaque robot de la formation est obtenue par une combinaison linéaire des vitesses calculées par la commande élémentaire par rapport à chacune des cibles. L’utilisation de coefficients de combinaison constants au sein de la flotte permet de prouver la stabilité de la commande en formation, puis la définition de coefficients variables est envisagée pour adapter en temps réel le comportement de la flotte. La formation peut en effet être amenée à évoluer, notamment en fonction des impératifs de sécurisation des véhicules. Pour répondre à ce besoin, chaque robot estime en temps réel une distance d’arrêt minimale en cas d’urgence et des trajectoires d’urgence pour l’évitement du robot précédent. D’après la configuration de la formation et les comportements d’urgence calculés, les distances désirées au sein de la flotte peuvent alors être modifiées en ligne afin de décrire une configuration sûre de la formation
This thesis focuses on the issue of the control of a formation of wheeled mobile robots travelling in off-road conditions. The goal of the application is to follow a reference trajectory (entirely or partially) known beforehand. Each robot of the fleet has to track this trajectory while coordinating its motion with the other robots in order to maintain a formation described as a set of desired distances between vehicles. The off-road context has to be considered thoroughly as it creates perturbations in the motion of the robots. The contact of the tire on an irregular and slippery ground induces significant slipping and skidding. These phenomena are hardly measurable with direct sensors, therefore an observer is set up in order to get an estimation of their value. The skidding effect is included in the evolution of each robot as a side-slip angle, thus creating an extended kinematic model of evolution. From this model, adaptive control laws on steering angle and velocity for each robot are designed independently. These permit to control respectively the lateral distance to the trajectory and the curvilinear interdistance of the robot to a target. Predictive control techniques lead then to extend these control laws in order to account for the actuators behavior so that positioning errors due to the delay of the robot response to the commands are cancelled. The elementary control law on the velocity control ensures an accurate longitudinal positioning of a robot with respect to a target. It serves as a base for a global fleet control strategy which declines the overall formation maintaining goal in local positioning objective for each robot. A bidirectionnal control strategy is designed, in which each robot defines 2 targets, the immediate preceding and following robot in the fleet. The velocity control of a robot is finally defined as a linear combination of the two velocity commands obtained by the elementary control law for each target. The linear combination parameters are investigated, first defining constant parameters for which the stability of the formation is proved through Lyapunov techniques, then considering the effect of variable coefficients in order to adapt in real time the overall behavior of the formation. The formation configuration can indeed be prone to evolve, for application purposes and to guarantee the security of the robots. To fulfill this latter requirement, each robot of the fleet estimates in real time a minimal stopping distance in case of emergency and two avoidance trajectories to get around the preceding vehicle if this one suddenly stops. Given the initial configuration of the formation and the emergency behaviors calculated, the desired distances between the robots can be adapted so that the new configuration thus described ensures the security of each and every robot of the formation against potential collisions
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Denis, Dieumet. "Contribution à la modélisation et à la commande de robots mobiles reconfigurables en milieu tout-terrain : application à la stabilité dynamique d'engins agricoles." Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22565/document.

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La thématique étudiée dans ce mémoire est axée sur la préservation de la stabilité dynamique de véhicules évoluant en environnement naturel. En effet, la mobilité en milieu tout-terrain est une activité particulièrement pénible et dangereuse en raison de la nature difficile de l'environnement de conduite et de la reconfigurabilité des machines. Le caractère changeant et incertain des interactions rencontrées entre des véhicules à dynamique complexe et variable et leur environnement entraîne régulièrement des risques accrus de renversement et/ou de perte de contrôle (dévalement, dérapage déclenché par une perte soudaine d'adhérence) pour le conducteur. Une forte accidentalité mortelle est, en effet, recensée dans ce secteur, en particulier, dans le milieu agricole ou le renversement de véhicule est classé comme étant la première cause de mortalité au travail. A l'heure actuelle, les approches existantes sur la stabilité d'engins agricoles sont qualifiées à juste titre de passives car elles ne permettent pas d'éviter que les accidents ne se produisent. Par ailleurs, la transposition directe des solutions de sécurité active du secteur de l'automobile (ABS, ESP) s'est révélée inadaptée aux véhicules tout-terrain a cause des hypothèses simplificatrices (routes plates et homogènes, conditions d'adhérence constantes, etc.) dont souffre la conception de ces dispositifs. Ainsi, le développement de systèmes actifs de sécurité prenant en compte les spécificités de la conduite en milieu tout-terrain se révèle être la meilleure voie d'amélioration à suivre. Eu égard à ces circonstances, ce projet se propose d'adresser cette problématique en étudiant des métriques de stabilité pertinentes permettant d'estimer et d'anticiper en temps réel les risques afin de permettre des actions correctives pour la préservation de l'intégrité des machines tout-terrain. Afin de faciliter l'industrialisation du dispositif actif de sécurité conçu, l'une des contraintes sociétales et commerciales de ce projet a été l'utilisation de capteurs compatibles avec le coût des machines visées. L'objectif ambitieux de cette étude a été atteint par différentes voies. En premier lieu, une approche de modélisation multi-échelle a permis de caractériser l'évolution dynamique de véhicules en milieu tout-terrain. Cette approche à dynamique partielle a offert l'avantage de développer des modèles suffisamment précis pour être représentatifs du comportement réel de l'engin mais tout en présentant une structure relativement simple permettant la synthèse d'asservissements performants. Puis, une étude comparative des avantages et des inconvénients des trois grandes familles de métriques répertoriées dans la littérature a permis de mettre en exergue l'intérêt des métriques analytiques à modèle dynamique par rapport aux catégories de critères de stabilité dits statiques et empiriques. Enfin, l'analyse approfondie des métriques dynamiques a facilité le choix de trois indicateurs (Lateral and Longitudinal Load Transfer (LLT), Force Angle Stability Measurement (FASM) et Dynamic Energy Stability Measurement (DESM)) qui sont représentatifs d'un risque imminent de renversement du véhicule. La suite du mémoire s'appuie sur la théorie d'observation pour l'estimation en ligne des variables non directement mesurables en milieu tout-terrain telles que les rigidités de glissement et dérive du pneumatique. Jumelée aux différents modèles dynamiques du véhicule, la synthèse d'observateurs a permis donc d'estimer en temps réel les efforts d'interaction pneumatiques-sol nécessaires à l'évaluation des indicateurs d'instabilité. Le couplage de ces modèles multi-échelles à la théorie d'observation a ainsi constitué un positionnement original à même de briser la complexité de la caractérisation de la stabilité de véhicules à dynamiques complexes et incertaines. (...)
This work is focused on the thematic of the maintenance of the dynamic stability of off-road vehicles. Indeed, driving vehicles in off-road environment remains a dangerous and harsh activity because of the variable and bad grip conditions associated to a large diversity of terrains. Driving difficulties may be also encountered when considering huge machines with possible reconfiguration of their mechanical properties (changes in mass and centre of gravity height for instance). As a consequence, for the sole agriculture sector, several fatal injuries are reported per year in particular due to rollover situations. Passive protections (ROllover Protective Structure - ROPS) are installed on tractors to reduce accident consequences. However, protection capabilities of these structures are very limited and the latter cannot be embedded on bigger machines due to mechanical design limitations. Furthermore, driving assistance systems (such as ESP or ABS) have been deeply studied for on-road vehicles and successfully improve safety. These systems usually assume that the vehicle Center of Gravity (CG) height is low and that the vehicles are operating on smooth and level terrain. Since these assumptions are not satisfied when considering off-road vehicles with a high CG, such devices cannot be applied directly. Consequently, this work proposes to address this research problem by studying relevant stability metrics able to evaluate in real time the rollover risk in order to develop active safety devices dedicated to off-road vehicles. In order to keep a feasible industrialization of the conceived active safety device, the use of compatible sensors with the cost of the machines was one of the major commercial and societal requirements of the project. The ambitious goal of this study was achieved by different routes. First, a multi-scale modeling approach allowed to characterize the dynamic evolution of off-road vehicles. This partial dynamic approach has offered the advantage of developing sufficiently accurate models to be representative of the actual behavior of the machine but having a relatively simple structure for high-performance control systems. Then, a comparative study of the advantages and drawbacks of the three main families of metrics found in the literature has helped to highlight the interest of dynamic stability metrics at the expense to categories of so-called static and empirical stability criteria. Finally, a thorough analysis of dynamic metrics has facilitated the choice of three indicators (Longitudinal and Lateral Load Transfer (LLT), Force Angle Stability Measurement (FASM) and Dynamic Energy Stability Measurement (DESM)) that are representative of an imminent rollover risk. The following of the document is based on the observation theory for estimating online of variables which are not directly measurable in off-road environment such as slip and cornering stiffnesses. Coupled to the dynamic models of the vehicle, the theory of observers has helped therefore to estimate in real time the tire-soil interaction forces which are necessaries for evaluating indicators of instability. The coupling of these multiscale models to the observation theory has formed an original positioning capable to break the complexity of the characterization of the stability of vehicles having complex and uncertain dynamics. (...)
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9

Richier, Mathieu. "Conception de dispositifs actifs de maintien de stabilité pour les véhicules évoluant en milieux naturels." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2013. http://tel.archives-ouvertes.fr/tel-01066614.

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La problématique de cette thèse réside dans la caractérisation et le maintien de la stabilité des Véhicules Légers Tout Terrain (VLTT). Elle se concentre plus particulièrement sur le développement de systèmes de sécurité actifs capables à la fois de prévenir le conducteur des risques encourus mais aussi de les limiter afin d'assurer l'évolution du véhicule dans une zone de stabilité prédéfinie. Comme le cadre expérimental privilégié est l'application à la stabilité des quadricycles légers à moteurs, plus connus sous le terme anglophone "quad", une des contraintes du projet a été de se limiter à un système sensoriel bas-coût afin d'être en mesure d'industrialiser un tel système. En premier lieu, les métriques de stabilité (Transfert de Charge Latéral et Longitudinal : TCLa et TCLo) ont été choisies grâce à une étude préliminaire sur la stabilité des VLTT. Par la suite, une modélisation 2D en roulis et en tangage avec la prise en compte des déplacements du pilote sur le véhicule sont présentées, ce qui permet d'estimer respectivement le TCLa et le TCLo uniquement à partir de la mesure de l'accélération latérale et longitudinale. Étant donné que pour la suite des travaux, l'anticipation du risque de renversement latéral est nécessaire, un modèle 2D en lacet du véhicule est proposé afin d'obtenir un modèle analytique décrivant la dynamique latérale du véhicule. La suite du mémoire présente les différentes techniques d'observation proposées pour l'estimation des variables et paramètres non-directement mesurables du modèle en lacet du véhicule et qui influencent sa stabilité latérale : les glissements, les conditions d'adhérence et les inclinaisons du véhicule. Plusieurs observateurs ont été proposés, dont le dernier permet de considérer des conditions d'adhérence différentes entre les essieux avant et arrière en utilisant plus largement les accélérations mesurées. Cela permet d'intégrer les passages de sous- à sur-vireur qu'il est essentiel de considérer quand on étudie la stabilité de ce type de véhicule. Ainsi, l'estimation des glissements est toujours pertinente, ce qui permet d'obtenir par la suite une meilleure prédiction de la métrique de stabilité latérale (TCLa) quel que soit le comportement du véhicule. Puis en s'appuyant sur les estimations des observateurs couplées aux modèles dynamiques du véhicule et sur l'extrapolation des commandes du conducteur sur un horizon de prédiction, il est possible de prédire les évolutions du TCLa. Cette valeur prédite ainsi que les estimations en ligne des métriques de stabilité constituent alors le point d'entrée pour la synthétisation d'un système de sécurité actif dédié aux VLTT. Celui-ci est basé sur la génération d'un retour d'effort au niveau de la gâchette des gaz permettant soit d'informer le pilote du risque encouru par la création d'une sensation de dureté, soit d'imposer le retour complet de la gâchette des gaz, ce qui implique une diminution de la vitesse et donc la réduction du risque. Finalement, dans le cas où il est possible de maîtriser la vitesse du véhicule par l'installation d'un système de rétroaction sur les freins (Quad haut de gamme ou robot mobile), les derniers travaux présentés s'intéressent aux techniques de commande prédictive à modèle afin de calculer en temps-réel la vitesse maximale admissible, qui assure l'évolution du critère de stabilité choisi dans un domaine de stabilité. Les modèles, les observateurs, la prédiction du TCLa et les 2 systèmes de prévention présentés dans ce mémoire ont été validés et testés au travers de simulations avancées et d'essais expérimentaux réalisés sur un quad agricole et un robot autonome. Il apparaît alors qu'en plus d'être efficace pour la prévention des risques de renversement à hautes dynamiques, le système de sécurité est industriellement viable. Cela a été rendu possible grâce à une conception reposant uniquement sur des actionneurs et un système sensoriel, dont les coûts sont en adéquation avec le prix d'un VLTT.
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Polack, Philip. "Cohérence et stabilité des systèmes hiérarchiques de planification et de contrôle pour la conduite automatisée." Thesis, Paris Sciences et Lettres (ComUE), 2018. http://www.theses.fr/2018PSLEM025/document.

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La voiture autonome pourrait réduire le nombre de morts et de blessés sur les routes tout en améliorant l'efficacité du trafic. Cependant, afin d'assurer leur déploiement en masse sur les routes ouvertes au public, leur sécurité doit être garantie en toutes circonstances. Cette thèse traite de l'architecture de planification et de contrôle pour la conduite automatisée et défend l'idée que l'intention du véhicule doit correspondre aux actions réalisées afin de garantir la sécurité à tout moment. Pour cela, la faisabilité cinématique et dynamique de la trajectoire de référence doit être assurée. Sinon, le contrôleur, aveugle aux obstacles, n'est pas capable de la suivre, entraînant un danger pour la voiture elle-même et les autres usagers de la route. L'architecture proposée repose sur la commande à modèle prédictif fondée sur un modèle bicyclette cinématique afin de planifier des trajectoires de référence sûres. La faisabilité de la trajectoire de référence est assurée en ajoutant une contrainte dynamique sur l'angle au volant, contrainte issue de ces travaux, afin d'assurer que le modèle bicyclette cinématique reste valide. Plusieurs contrôleurs à haute-fréquence sont ensuite comparés afin de souligner leurs avantages et inconvénients. Enfin, quelques résultats préliminaires sur les contrôleurs à base de commande sans modèle et leur application au contrôle automobile sont présentés. En particulier, une méthode efficace pour ajuster les paramètres est proposée et implémentée avec succès sur la voiture expérimentale de l'ENSIAME en partenariat avec le laboratoire LAMIH de Valenciennes
Autonomous vehicles are believed to reduce the number of deaths and casualties on the roads while improving the traffic efficiency. However, before their mass deployment on open public roads, their safety must be guaranteed at all time.Therefore, this thesis deals with the motion planning and control architecture for autonomous vehicles and claims that the intention of the vehicle must match with its actual actions. For that purpose, the kinematic and dynamic feasibility of the reference trajectory should be ensured. Otherwise, the controller which is blind to obstacles is unable to track it, setting the ego-vehicle and other traffic participants in jeopardy. The proposed architecture uses Model Predictive Control based on a kinematic bicycle model for planning safe reference trajectories. Its feasibility is ensured by adding a dynamic constraint on the steering angle which has been derived in this work in order to ensure the validity of the kinematic bicycle model. Several high-frequency controllers are then compared and their assets and drawbacks are highlighted. Finally, some preliminary work on model-free controllers and their application to automotive control are presented. In particular, an efficient tuning method is proposed and implemented successfully on the experimental vehicle of ENSIAME in collaboration with the laboratory LAMIH of Valenciennes
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Books on the topic "Lateral Stability Control"

1

Jouma'a, Mohamed. Aerodynmaic interference and lateral stability and control. Manchester: University ofManchester, 1995.

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Thomas, Carpenter, and Dryden Flight Research Facility, eds. Thrust vectoring for lateral-directional stability. Edwards, Calif: National Aeronautics and Space Administration, Ames Research Center, Dryden Flight Research Facility, 1992.

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Schiess, James R. Lateral stability and control derivatives extracted from space shuttle data. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1988.

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United States. National Aeronautics and Space Administration. Scientific and Technical Information Branch., ed. Relative control effectiveness technique with application to airplane control coordination. [Washington, D.C.]: National Aeronautics and Space Administration, Scientific and Technical Information Branch, 1985.

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Suit, William T. Lateral and longitudinal stability and control parameters for the space shuttle Discovery as determined from flight test data. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1988.

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A, Jeske James, Hardy Gordon H, and Ames Research Center, eds. Lateral-directional stability and control characteristics of the quiet short-haul research aircraft (QSRA). Moffett Field, Calif: National Aeronautics and Space Administration, Ames Research Center, 1990.

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A, Jeske James, Hardy Gordon H, and Ames Research Center, eds. Lateral-directional stability and control characteristics of the quiet short-haul research aircraft (QSRA). Moffett Field, Calif: National Aeronautics and Space Administration, Ames Research Center, 1990.

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Stephenson, Jack D. Lateral-directional stability and control characteristics of the quiet short-haul research aircraft (QSRA). Moffett Field, Calif: National Aeronautics and Space Administration, Ames Research Center, 1990.

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Franklin, James A. V/STOL dynamics, control, and flying qualities. Moffett Field, Calif: National Aeronautics and Space Administration, Ames Research Center, 2000.

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Suit, William T. Lateral and longitudinal aerodynamic stability and control parameters of the basic vortex flap research aircraft as determined from flight test data. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1986.

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Book chapters on the topic "Lateral Stability Control"

1

Sadraey, Mohammad H. "Lateral-Directional Control." In Flight Stability and Control, 191–236. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-18765-0_6.

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Sadraey, Mohammad H. "Lateral-Directional Stability." In Flight Stability and Control, 109–57. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-18765-0_4.

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Gratton, Guy. "Lateral and Directional Stability and Control." In Initial Airworthiness, 259–77. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-75617-2_13.

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Gratton, Guy. "Lateral and Directional Stability and Control." In Initial Airworthiness, 217–34. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-11409-5_13.

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Li, Bin, Subhash Rakheja, and Zhijun Fu. "Optimal control of lateral stability for articulated heavy vehicles based on adaptive dynamic programming approach." In Advanced Vehicle Control AVEC’16, 451–56. CRC Press/Balkema, P.O. Box 11320, 2301 EH Leiden, The Netherlands, e-mail: Pub.NL@taylorandfrancis.com, www.crcpress.com – www.taylorandfrancis.com: Crc Press, 2016. http://dx.doi.org/10.1201/9781315265285-72.

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Hou, Yuye, Lu Xiong, Bo Leng, and Zhuoping Yu. "Integrated Control for Four-Wheel-Independent-Drive EVs’ Lateral Stability and Rollover Prevention." In Lecture Notes in Mechanical Engineering, 1333–41. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-38077-9_154.

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Russell, J. B. "Lateral static stability and control." In Performance and Stability of Aircraft, 112–21. Elsevier, 1996. http://dx.doi.org/10.1016/b978-034063170-6/50008-6.

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"Longitudinal and Lateral Linear Stability and Control." In Flight Dynamics, Simulation, and Control, 210–89. CRC Press, 2014. http://dx.doi.org/10.1201/b17346-10.

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"Addendum 3 Lateral Control and Stability Surfaces." In Aircraft Conceptual Design Synthesis, 325–38. Chichester, UK: John Wiley & Sons, Ltd, 2014. http://dx.doi.org/10.1002/9781118903094.oth3.

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Hassan, Ahmed, Jose Frejo, and Jose Maestre. "Enhancement handling performance of 4-wheels drive electrical vehicle using advanced control technique." In XLIII Jornadas de Automática: libro de actas: 7, 8 y 9 de septiembre de 2022, Logroño (La Rioja), 530–36. 2022nd ed. Servizo de Publicacións da UDC, 2022. http://dx.doi.org/10.17979/spudc.9788497498418.0530.

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Electric vehicles (EVs) are gaining attention because they are environmentally friendly. Also, EVs can use in-hub motors, which can be independently controlled, improving maneuverability and allowing to set more ambitious control goals. In this paper, the lateral motion of an EV is controlled using the direct yaw control (DYC) method. The proposed controller uses the yaw moment produced by the longitudinal forces of the tires to stabilize the vehicle motion during critical cornering conditions to improve vehicle handling characteristics. The designed controllers, based on a linear model of the vehicle compute the optimal coupled traction/braking torque of the four in-wheel motors. By using unequal torque distribution, a restoring yaw moment can be generated in order to improve vehicle stability. Two controllers (PID and MPC) were designed to generate the moment required to achieve vehicle stability . The MPC outperforms PID regarding reduction of side slip angle and yaw rate.
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Conference papers on the topic "Lateral Stability Control"

1

Jang, Jungsoon, Jinho Kim, and Choonbae Park. "Lateral stability augmentation using decentralized control." In 19th Atmospheric Flight Mechanics Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1994. http://dx.doi.org/10.2514/6.1994-3518.

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Tanos, Aristeidis, Thomas Steffen, and George Mavros. "Improving lateral stability of a motorcycle via assistive control of a reaction wheel." In 2014 UKACC International Conference on Control (CONTROL). IEEE, 2014. http://dx.doi.org/10.1109/control.2014.6915119.

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Attia, R., R. Orjuela, and M. Basset. "Coupled longitudinal and lateral control strategy improving lateral stability for autonomous vehicle." In 2012 American Control Conference - ACC 2012. IEEE, 2012. http://dx.doi.org/10.1109/acc.2012.6315130.

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Zhao, Shuen, Yinong Li, Ling Zheng, and Shaobo Lu. "Vehicle Lateral Stability Control Based on Sliding Mode Control." In 2007 IEEE International Conference on Automation and Logistics. IEEE, 2007. http://dx.doi.org/10.1109/ical.2007.4338642.

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Huang, Yiwen, Wei Liang, and Yan Chen. "Estimation and analysis of vehicle lateral stability region." In 2017 American Control Conference (ACC). IEEE, 2017. http://dx.doi.org/10.23919/acc.2017.7963617.

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Oraby, W. A. H., S. M. El-Demerdash, A. M. Selim, A. Faizz, and D. A. Crolla. "Improvement of Vehicle Lateral Dynamics by Active Front Steering Control." In SAE 2004 Automotive Dynamics, Stability & Controls Conference and Exhibition. 400 Commonwealth Drive, Warrendale, PA, United States: SAE International, 2004. http://dx.doi.org/10.4271/2004-01-2081.

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Cui, Gaojian, Xiaoqiang Shang, Zeng Li, Fanghu Ning, and Xiaodong Wu. "Lateral Stability Control of Four-wheel Steering Vehicles." In 2019 3rd Conference on Vehicle Control and Intelligence (CVCI). IEEE, 2019. http://dx.doi.org/10.1109/cvci47823.2019.8951724.

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Tian, Xin, Hao Qin, and Xinyu Bao. "Lateral stability control of brake-by-wire vehicles." In AIAM2021: 2021 3rd International Conference on Artificial Intelligence and Advanced Manufacture. New York, NY, USA: ACM, 2021. http://dx.doi.org/10.1145/3495018.3501151.

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Zhao, Chenming, Weidong Xiang, and Paul Richardson. "Vehicle Lateral Control and Yaw Stability Control through Differential Braking." In 2006 IEEE International Symposium on Industrial Electronics. IEEE, 2006. http://dx.doi.org/10.1109/isie.2006.295624.

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Huang, Yiwen, and Yan Chen. "Vehicle Lateral Motion Control Based on Estimated Stability Regions." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5152.

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This paper presents a novel vehicle lateral stability control method based on an estimated lateral stability region on the phase plane of vehicle yaw rate and lateral speed, which is obtained through a local linearization method. Since the estimated stability region does not only describe vehicle local stability, but also define the oversteering and understeering characteristics, the proposed control method can achieve both local stability and vehicle handling stability. Considering the irregular geometric shape of the estimated stability region, a stability analysis algorithm is designed to determine the distance between vehicle states and stability region boundaries. State estimation or measurement errors are also incorporated in the distance calculation. Based on the calculated shortest distance between vehicle states and stability boundaries, a direct yaw moment controller is designed to maintain vehicle states stay within the stability region. CarSim® and Simulink® co-simulation is applied to verify the control design through a cornering maneuver. The simulation results show that the proposed control method can make the vehicle stay within the stability region successfully and thus always operate in a safe manner.
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Reports on the topic "Lateral Stability Control"

1

Qamhia, Issam, and Erol Tutumluer. Evaluation of Geosynthetics Use in Pavement Foundation Layers and Their Effects on Design Methods. Illinois Center for Transportation, August 2021. http://dx.doi.org/10.36501/0197-9191/21-025.

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This report presents findings of a research effort aimed at reviewing and updating existing Illinois Department of Transportation (IDOT) specifications and manuals regarding the use of geosynthetic materials in pavements. The project consisted of three tasks: evaluate current IDOT practice related to the use of geosynthetics; review research and state of the practice on geosynthetics applications, available products, design methods, and specifications; and propose recommendations for geosynthetic solutions in pavements to modernize IDOT’s practices and manuals. The review of IDOT specifications revealed that geotextiles are the most used geosynthetic product in Illinois, followed by geogrids. Several of IDOT’s manuals have comprehensive guidelines to properly design and construct pavements with geosynthetics, but several knowledge gaps and potential areas for modernization and adoption of new specifications still exist. Based on the review of the available design methods and the most relevant geosynthetic properties and characterization methods linked to field performance, several updates to IDOT’s practice were proposed. Areas of improvement are listed as follows. First, establish proper mechanisms for using geogrids, geocells, and geotextiles in subgrade restraint and base stabilization applications. This includes using shear wave transducers, i.e., bender elements, to quantify local stiffness enhancements and adopting the Giroud and Han design method for subgrade restraint applications. Second, update IDOT’s Subgrade Stability Manual to include property requirements for geogrids, geotextiles, and geocells suitable for subgrade restraint applications. Third, establish proper standards on stabilization, separation, and pumping resistance for geotextiles by incorporating recent research findings on geotextile clogging and permeability criteria. Fourth, promote the use of modern geosynthetic products, such as geotextiles with enhanced lateral drainage, and fifth, elaborate on proper methods for construction/quality control measures for pavements with geosynthetics.
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Event-Triggered Adaptive Robust Control for Lateral Stability of Steer-by-Wire Vehicles with Abrupt Nonlinear Faults. SAE International, July 2022. http://dx.doi.org/10.4271/2022-01-5056.

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Because autonomous vehicles (AVs) equipped with active front steering have the features of time varying, uncertainties, high rate of fault, and high burden on the in-vehicle networks, this article studies the adaptive robust control problem for improving lateral stability in steer-by-wire (SBW) vehicles in the presence of abrupt nonlinear faults. First, an upper-level robust H∞ controller is designed to obtain the desired front-wheel steering angle for driving both the yaw rate and the sideslip angle to reach their correct values. Takagi-Sugeno (T-S) fuzzy modeling method, which has shown the extraordinary ability in coping with the issue of nonlinear, is applied to deal with the challenge of the changing longitudinal velocity. The output of the upper controller can be calculated by a parallel distributed compensation (PDC) scheme. Then an event-triggered adaptive fault-tolerant lower controller (ET-AFTC) is proposed to drive the whole SBW system driving the desired steering angle offered by the upper controller with fewer communication resources and strong robustness. By employing a backstepping technique, the tracking performance is improved. The dynamic surface control (DSC) approach is used to avoid the problem of repeated differentiations, and Nussbaum function is adopted to overcome the difficulty of unknown nonlinear control gain. Both the stability of the upper and lower controllers can be guaranteed by Lyapunov functions. Finally, the simulations of Matlab/Simulink are given to show that the proposed control strategy is effectively able to deal with the abrupt nonlinear fault via less communication resources and perform better in ensuring the yaw stability of the vehicle.
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