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TableĀ 4 Target d under different conditions

From: A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

Condition

\(d\left( k \right)\)

\(LTR \ge 0.55\) only

\(d\left( k \right) = \left[ {\begin{array}{*{20}c} {\dot{\psi }\left( k \right)} & {\text{sgn} \left( {a_{y} } \right)LTR_{d} \left( k \right)} \\ \end{array} } \right]^{\text{T}} ,\) \(LTR_{d} = 0.55,\)

\(\left| {\dot{\psi } - \dot{\psi }_{d} } \right| \ge 1.15^\circ \approx 0.02\;{\text{rad}}\) only

\(d\left( k \right) = \left[ {\begin{array}{*{20}c} {\dot{\psi }_{d} \left( k \right)} & {\text{sgn} \left( {a_{y} } \right)LTR\left( k \right)} \\ \end{array} } \right]^{\text{T}} ,\)

\(LTR \ge 0.55\) and \(\left| {\dot{\psi } - \dot{\psi }_{d} } \right| \ge 1.15^\circ\)

\(d\left( k \right) = \left[ {\begin{array}{*{20}c} {\dot{\psi }_{d} \left( k \right)} & {\text{sgn} \left( {a_{y} } \right)LTR_{d} \left( k \right)} \\ \end{array} } \right]^{\text{T}} ,\) \(LTR_{d} = 0.55.\)