Advanced control and stability of autonomous road vehicles. Part II: Practical stability of road vehicles Online publication date: Tue, 15-Jul-2003
by Miomir K. Vukobratovic, Aleksandar D. Rodic
International Journal of Computer Applications in Technology (IJCAT), Vol. 15, No. 6, 2002
Abstract: The paper describes for the first time the conditions for practical stability of the road vehicle as a complex system in interaction with the dynamic environment. Stability analysis is based on knowledge of the road vehicle model dynamics as well as the dynamic environment model, developed specially for that purpose and for the synthesis of the dynamic control laws applied in the system automatic control. The stability conditions for two dynamic control laws, the pure position control and the combined position/force control low, were derived. In the chosen example, the procedure for determining control parameters was described using the vehicle practical stability test. In addition, characteristic simulation results, obtained by applying the proposed dynamic position/force control law, were presented for the case of a stable closed-loop system with variable system parameters. Finally, fundamental characteristics of the novel approach are pointed out and possible research directions outlined.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Computer Applications in Technology (IJCAT):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook