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Journal articles on the topic 'Decoupled lateral and longitudinal control'

Author: Grafiati

Published: 6 July 2024

Last updated: 31 July 2025

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1

Al Shibli, Murad. "UAV autonomous decoupled dynamic longitudinal-lateral motion control using full-order state observer." International Journal of Unmanned Systems Engineering 2, no. 4 (2014): 1–15. http://dx.doi.org/10.14323/ijuseng.2014.14.

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2

Zhou, Fang, Dengfeng Zhao, Yudong Zhong, et al. "Motion Sickness Suppression Strategy Based on Dynamic Coordination Control of Active Suspension and ACC." Machines 13, no. 8 (2025): 650. https://doi.org/10.3390/machines13080650.

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With the development of electrification and intelligent technologies in vehicles, ride comfort issues represented by motion sickness have become a key constraint on the performance of autonomous driving. The occurrence of motion sickness is influenced by the comprehensive movement of the vehicle in the longitudinal, lateral, and vertical directions, involving ACC, LKA, active suspension, etc. Existing motion sickness control method focuses on optimizing the longitudinal, lateral, and vertical directions separately, or coordinating the optimization control of the longitudinal and lateral direct

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3

DeSantis, R. M. "Modeling and path-tracking control of a mobile wheeled robot with a differential drive." Robotica 13, no. 4 (1995): 401–10. http://dx.doi.org/10.1017/s026357470001883x.

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SummaryTopics relevant to modeling and control of mobile wheeled robots with a differential drive are discussed by assuming a motion that is planar and free from lateral and longitudinal slippages, and by taking into account dynamic and kinematic properties of the vehicle. Based on the concept of geometric path-tracking, a controller is designed that is a memoryless function of the lateral, heading, and velocity path-tracking offsets. If these offsets are kept small and the assigned tracking velocity is constant, then this controller may be given a linear, time-invariant and decoupled PID (Pro

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4

Wolniakowski, Adam, and Arkadiusz Mystkowski. "Application of Unfalsified Control Theory in Controlling MAV." Solid State Phenomena 198 (March 2013): 171–75. http://dx.doi.org/10.4028/www.scientific.net/ssp.198.171.

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Controlling the flight of Micro Aerial Vehicles (MAV) is a highly challenging task, mostly due to nonlinearity of their models and highly varying longitudinal and lateral derivatives coefficients [. As such, it requires a proper form of robust control. The demand for such control is very high, as it is required in many applications. The following paper presents the application of Unfalsified Control Theory developed by Michael G. Safonov [1, 2, 6, . This interesting approach is based on the adaptive switching control, and does not require any previous knowledge of the controlled plant. The con

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Mystkowski, Arkadiusz. "Robust Optimal Control of MAV Based on Linear-Time Varying Decoupled Model Dynamics." Solid State Phenomena 198 (March 2013): 571–76. http://dx.doi.org/10.4028/www.scientific.net/ssp.198.571.

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This paper discusses a nonlinear robust control design procedure to micro air vehicle that uses the singular value (μ) and μ-synthesis technique. The optimal robust control law that combines a linear parameters varying (LPV) of UAV (unmanned aerial vehicle) are realized by using serial connection of the Kestrel autopilot and the Gumstix microprocessor. Thus, the robust control feedback loops, which handle the uncertainty of aerodynamics derivatives, are used to ensure robustness stability of the UAV local dynamics in longitudinal and lateral control directions.

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6

Wu, HaiDong, ZiHan Li, and ZhenLi Si. "Trajectory tracking control for four-wheel independent drive intelligent vehicle based on model predictive control and sliding mode control." Advances in Mechanical Engineering 13, no. 9 (2021): 168781402110451. http://dx.doi.org/10.1177/16878140211045142.

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For four-wheel independent drive intelligent vehicle, the longitudinal and lateral motion control of the vehicle is decoupled and a hierarchical controller is designed: the upper layer is the motion controller, and the lower layer is the control distributor. In the motion controller, the model predictive control (MPC) is used to calculate the steering wheel angle and the total yaw moment for lateral control, and the sliding mode control (SMC) is used to calculate the total driving force for longitudinal control. In order to improve the control algorithm adaptability and the tracking accuracy a

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Kim, Jinsoo, Jahng-Hyon Park, and Kyung-Young Jhang. "Decoupled Longitudinal and Lateral Vehicle Control Based Autonomous Lane Change System Adaptable to Driving Surroundings." IEEE Access 9 (2021): 4315–34. http://dx.doi.org/10.1109/access.2020.3047189.

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Deng, Zhao, Fuqiang Bing, Zhiming Guo, and Liaoni Wu. "Rope-Hook Recovery Controller Designed for a Flying-Wing UAV." Aerospace 8, no. 12 (2021): 384. http://dx.doi.org/10.3390/aerospace8120384.

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Due to the complexity of landing environments, precision guidance and high-precision control technology have become key to the rope-hook recovery of shipborne unmanned aerial vehicles (UAVs). The recovery process was divided into three stages and a reasonable guidance strategy had been designed for them, respectively. This study separated the guidance and control issues into an outer guidance loop and an inner control loop. The inner loop (attitude control loop) controled the UAV to follow the acceleration commands generated by the outer loop (trajectory tracking loop). The inner loop of the l

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9

Zeng, Di, Ling Zheng, Yinong Li, Jie Zeng, and Kan Wang. "A Personalized Motion Planning Method with Driver Characteristics in Longitudinal and Lateral Directions." Electronics 12, no. 24 (2023): 5021. http://dx.doi.org/10.3390/electronics12245021.

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Humanlike driving is significant in improving the safety and comfort of automated vehicles. This paper proposes a personalized motion planning method with driver characteristics in longitudinal and lateral directions for highway automated driving. The motion planning is decoupled into path optimization and speed optimization under the framework of the Baidu Apollo EM motion planner. For modeling driver behavior in the longitudinal direction, a car-following model is developed and integrated into the speed optimizer based on a weight ratio hypothesis model of the objective functional, whose par

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10

Chen, Yuxuan, Yaoheng Li, Shuai He, and Xuzhao Hou. "Cascaded MPC-ADRC trajectory tracking control for electric-drive unmanned tracked vehicles." Journal of Physics: Conference Series 3019, no. 1 (2025): 012065. https://doi.org/10.1088/1742-6596/3019/1/012065.

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Abstract Heavy-duty unmanned tracked vehicles are characterized by large inertia and complex operating conditions, which may lead to vehicle instability and trajectory divergence during trajectory tracking control. To address the trajectory tracking problem of heavy-duty unmanned vehicles, a series control method combining Model Predictive Control (MPC) and Active Disturbance Rejection Control (ADRC) is proposed. In this framework, the MPC algorithm based on a small-angle assumption calculates the desired yaw rate by solving local path points. The first-order linear ADRC controller then drives

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Deng, Zhao, Liaoni Wu, and Yancheng You. "Modeling and Design of an Aircraft-Mode Controller for a Fixed-Wing VTOL UAV." Mathematical Problems in Engineering 2021 (September 29, 2021): 1–17. http://dx.doi.org/10.1155/2021/7902134.

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Vertical takeoff and landing (VTOL) is an essential feature of unmanned aerial vehicles (UAVs). On the one hand, VTOL can expand and enhance the applications of UAVs; yet, on the other hand, it makes the design of control systems for UAVs more complicated. The most challenging demand in designing the control system is to achieve satisfactory response sharpness of fixed-wing UAVs to control commands and ensure that the aircraft mode channels are effectively decoupled. In this work, a six-degree-of-freedom (6-DoF) model with forces and moments is established based on the aerodynamic analysis, wh

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12

Moreno-Gonzalez, Marcos, Antonio Artuñedo, Jorge Villagra, Cédric Join, and Michel Fliess. "Speed-Adaptive Model-Free Path-Tracking Control for Autonomous Vehicles: Analysis and Design." Vehicles 5, no. 2 (2023): 698–717. http://dx.doi.org/10.3390/vehicles5020038.

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One of the challenges of autonomous driving is to increase the number of situations in which an intelligent vehicle can continue to operate without human intervention. This requires path-tracking control to keep the vehicle stable while following the road, regardless of the shape of the road or the longitudinal speed at which it is moving. In this work, a control strategy framed in the Model-Free Control paradigm is presented to control the lateral vehicle dynamics in a decoupled control architecture. This strategy is designed to guide the vehicle through trajectories with diverse dynamic cons

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13

Ren, Pingli, Haobin Jiang, and Xian Xu. "Research on a Cooperative Adaptive Cruise Control (CACC) Algorithm Based on Frenet Frame with Lateral and Longitudinal Directions." Sensors 23, no. 4 (2023): 1888. http://dx.doi.org/10.3390/s23041888.

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Research on the cooperative adaptive cruise control (CACC) algorithm is primarily concerned with the longitudinal control of straight scenes. In contrast, the lateral control involved in certain traffic scenes such as lane changing or turning has rarely been studied. In this paper, we propose an adaptive cooperative cruise control (CACC) algorithm that is based on the Frenet frame. The algorithm decouples vehicle motion from complex motion in two dimensions to simple motion in one dimension, which can simplify the controller design and improve solution efficiency. First, the vehicle dynamics m

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14

Qiao, Yiran, Xinbo Chen, and Zhen Liu. "Trajectory Tracking Coordinated Control of 4WID-4WIS Electric Vehicle Considering Energy Consumption Economy Based on Pose Sensors." Sensors 23, no. 12 (2023): 5496. http://dx.doi.org/10.3390/s23125496.

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In order to improve the stability and economy of 4WID-4WIS (four-wheel independent drive—four-wheel independent steering) electric vehicles in trajectory tracking, this paper proposes a trajectory tracking coordinated control strategy considering energy consumption economy. First, a hierarchical chassis coordinated control architecture is designed, which includes target planning layer, and coordinated control layer. Then, the trajectory tracking control is decoupled based on the decentralized control structure. Expert PID and Model Predictive Control (MPC) are employed to realize longitudinal

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15

Santos, Solange D. R., José Raul Azinheira, Miguel Ayala Botto, and Duarte Valério. "Path Planning and Guidance Laws of a Formula Student Driverless Car." World Electric Vehicle Journal 13, no. 6 (2022): 100. http://dx.doi.org/10.3390/wevj13060100.

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Autonomous driving has been a topic of great interest in several areas, of which motor racing is no exception. The aim of this work is the autonomous control of the future Formula Student Lisboa vehicle, by implementing different strategies for control and path planning, with the purpose of minimising race lap times. These strategies are tested in simulation, using a realistic model of the prototype. The approach followed involves the decoupling of the lateral and longitudinal subsystems and obtaining the reference path using artificial potential fields, combined with a two-pass algorithm deve

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16

Sun, Bohua, Yang Zhai, Yaxin Li, Weiwen Deng, and Shuai Zhao. "Driving Capability, a Unified Driver Model for ADAS." Journal of Physics: Conference Series 2185, no. 1 (2022): 012037. http://dx.doi.org/10.1088/1742-6596/2185/1/012037.

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Abstract To allocate driving privilege in a reasonable way in shared control for intelligent vehicle, the study on driving capability, the unified driver model for ADAS in the longitudinal and lateral scenarios was proposed, which can improve the safety and comfort for intelligent vehicles as well. Driving capability is defined and analyzed and car-following stimulate in longitudinal scenario and moving double lane change stimulate in lateral scenario were designed. Data collection was conducted in Driver-In-the-Loop Intelligent Simulation Platform (DILISP). Driving capability identification m

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17

Şahin, İsmail Hakkı, and Coşku Kasnakoğlu. "A stability-guaranteed smooth-scheduled MIMO robust emergency autopilot for a lateral surface jammed UAV." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 232, no. 12 (2017): 2286–99. http://dx.doi.org/10.1177/0954410017714291.

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This paper investigates a methodology for autopilot design for an unmanned air vehicle where one of the lateral control surfaces, i.e. the aileron or rudder, becomes jammed and unusable. The autopilot handles the automatic recovery, autonomous guidance and landing of the disabled unmanned aerial vehicle. An accurate nonlinear aircraft model is used to build local flight control laws using loop-shaping to decouple longitudinal and lateral channels. The design is carried out in a way to allow smooth scheduling over the local controllers without losing stability and performance, culminating in a

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18

Chen, Zhi, Daobo Wang, Ziyang Zhen, Biao Wang, and Jian Fu. "Take-off and landing control for a coaxial ducted fan unmanned helicopter." Aircraft Engineering and Aerospace Technology 89, no. 6 (2017): 764–76. http://dx.doi.org/10.1108/aeat-01-2016-0017.

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Purpose This paper aims to present a control strategy that eliminates the longitudinal and lateral drifting movements of the coaxial ducted fan unmanned helicopter (UH) during autonomous take-off and landing and reduce the coupling characteristics between channels of the coaxial UH for its special model structure. Design/methodology/approach Unidirectional auxiliary surfaces (UAS) for terminal sliding mode controller (TSMC) are designed for the flight control system of the coaxial UH, and a hierarchical flight control strategy is proposed to improve the decoupling ability of the coaxial UH. Fi

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19

Pusch, Manuel, Daniel Ossmann, and Tamás Luspay. "Structured Control Design for a Highly Flexible Flutter Demonstrator." Aerospace 6, no. 3 (2019): 27. http://dx.doi.org/10.3390/aerospace6030027.

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The model-based flight control system design for a highly flexible flutter demonstrator, developed in the European FLEXOP project, is presented. The flight control system includes a baseline controller to operate the aircraft fully autonomously and a flutter suppression controller to stabilize the unstable aeroelastic modes and extend the aircraft’s operational range. The baseline control system features a classical cascade flight control structure with scheduled control loops to augment the lateral and longitudinal axis of the aircraft. The flutter suppression controller uses an advanced blen

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20

Mandl, Philipp, Johannes Edelmann, and Manfred Plöchl. "Vehicle Motion Control for Overactuated Vehicles to Enhance Controllability and Path Tracking." Applied Sciences 14, no. 22 (2024): 10718. http://dx.doi.org/10.3390/app142210718.

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The motion control of vehicles poses distinct challenges for both vehicle stability and path tracking, especially under critical environmental and driving conditions. Overactuated vehicles can effectively utilize the available tyre–road friction potential by leveraging additional actuators, thus enhancing their stability and controllability even in challenging scenarios. This paper introduces a novel modular upstream control architecture for overactuated vehicles, integrating a fast and robust linear time-varying model predictive path and speed tracking controller with a model following approa

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21

Wu, Di Ping, Ting Yu, and Qin Qin. "3D Cantilever Model Research on Roller Leveling Process of Plate with Lateral Buckling Defects." Advanced Materials Research 572 (October 2012): 290–95. http://dx.doi.org/10.4028/www.scientific.net/amr.572.290.

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Roller leveling of plate with lateral defects is a complex process in which materials longitudinal strain couples with the transverse one. Different from wavy defects, lateral buckling defects are plates' macroscopic deformation because of stress or fiber length difference between up and down surfaces of the plate. Aiming at plate roller leveling process,a simplified 3D cantilever bending FEM model has been suggested in this paper. In the model, plates longitudinal bending and lateral warping are decoupled by using ABAQUS element deactivation function. Moreover, the mechanism of roller levelin

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22

Ehmanns, Dirk, Peter Zahn, Helmut Spannheimer, and Raymond Freymann. "Integrated longitudinal and lateral guidance control." ATZ worldwide 105, no. 4 (2003): 10–13. http://dx.doi.org/10.1007/bf03224592.

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23

Kayacan, Erkan, Zeki Y. Bayraktaroglu, and Wouter Saeys. "Modeling and control of a spherical rolling robot: a decoupled dynamics approach." Robotica 30, no. 4 (2011): 671–80. http://dx.doi.org/10.1017/s0263574711000956.

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SUMMARYThis paper presents the results of a study on the dynamical modeling, analysis, and control of a spherical rolling robot. The rolling mechanism consists of a 2-DOF pendulum located inside a spherical shell with freedom to rotate about the transverse and longitudinal axis. The kinematics of the model has been investigated through the classical methods with rotation matrices. Dynamic modeling of the system is based on the Euler–Lagrange formalism. Nonholonomic and highly nonlinear equations of motion have then been decomposed into two simpler subsystems through the decoupled dynamics appr

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Campos, Luís M. B. C., and Joaquim M. G. Marques. "On the Extrapolation of Stability Derivatives to Combined Changes in Airspeed and Angles of Attack and Sideslip." Aerospace 9, no. 5 (2022): 249. http://dx.doi.org/10.3390/aerospace9050249.

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The variation in stability derivatives with airspeed and angles of attack and sideslip is determined using only the dependence of the aerodynamic forces and moments on the modulus and direction of the velocity. Analytic extrapolation factors are obtained for all 12 longitudinal plus 12 lateral stability derivatives of linear decoupled motion. The extrapolation factors relate the stability derivatives for two flight conditions with different airspeeds, angles of attack (AoA), and angles of sideslip (AoS). The extrapolation formulas were validated by comparison with results of computational flui

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Bai, Yunlong, Gang Li, Hongyao Jin, and Ning Li. "Research on Lateral and Longitudinal Coordinated Control of Distributed Driven Driverless Formula Racing Car under High-Speed Tracking Conditions." Journal of Advanced Transportation 2022 (August 11, 2022): 1–15. http://dx.doi.org/10.1155/2022/7344044.

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Aiming at the problem that it is difficult to ensure the trajectory tracking accuracy and driving stability of the distributed driven driverless formula racing car under high-speed tracking conditions, a lateral and longitudinal coordinated control strategy is proposed. Based on the adaptive model predictive control theory, the lateral motion controller is designed, and the prediction time domain of the controller is changed in real time according to the change of vehicle speed. Based on the sliding mode variable structure control theory, a longitudinal motion controller is designed to accurat

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FUJIOKA, T., and K. SUZUKI. "Control of Longitudinal and Lateral Platoon Using Sliding Control." Vehicle System Dynamics 23, no. 1 (1994): 647–64. http://dx.doi.org/10.1080/00423119408969079.

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27

Samiadji, Herdjunanto, Cahyadi Adha, and Rian Dewangga Bobby. "Actuator Fault Decoupled Residual Generation on Lateral Moving Aircraft." TELKOMNIKA Telecommunication, Computing, Electronics and Control 16, no. 4 (2018): 1886–93. https://doi.org/10.12928/TELKOMNIKA.v16i4.9055.

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Implementation of time-scheduled maintenance is not suitable if it is applied for systems with many varieties of heavy workload and harsh environment since on that condition components degrade earlier that those under normal condition. Therefore it has been shifted to condition-based maintenance (CBM). One important aspect, among others, toward implementation of CBM method is fault isolation. The problem investigated in this paper is related todecouple residual generation for actuator fault isolation of an aircraft on lateral movement. The proposed solution for that problem is to implement com

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Zhang, Ailin, Shi Zhang, Xiaoda Xu, Haibin Zhong, and Bo Li. "Variation Characteristics of the Wind Field in a Typical Thunderstorm Event in Beijing." Applied Sciences 12, no. 23 (2022): 12036. http://dx.doi.org/10.3390/app122312036.

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The understanding of wind field characteristics during thunderstorms is key to structural design for resistance to thunderstorms. In this paper, the directional thunderstorm wind model is adopted to analyze the characteristics of vertical variations of the wind field in a typical thunderstorm event in the Beijing urban area, based on the measured data. First, the longitudinal and lateral fluctuating wind speed components were decoupled and the change of direction was obtained. Then, variation of the wind speed, wind direction, turbulence intensity, turbulence integral length scale, and gust fa

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Liu, Yalei, Weiping Ding, Mingliang Yang, Honglin Zhu, Liyuan Liu, and Tianshi Jin. "Distributed Drive Autonomous Vehicle Trajectory Tracking Control Based on Multi-Agent Deep Reinforcement Learning." Mathematics 12, no. 11 (2024): 1614. http://dx.doi.org/10.3390/math12111614.

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In order to enhance the trajectory tracking accuracy of distributed-driven intelligent vehicles, this paper formulates the tasks of torque output control for longitudinal dynamics and steering angle output control for lateral dynamics as Markov decision processes. To dissect the requirements of action output continuity for longitudinal and lateral control, this paper adopts the deep deterministic policy gradient algorithm (DDPG) for longitudinal velocity control and the deep Q-network algorithm (DQN) for lateral motion control. Multi-agent reinforcement learning methods are applied to the task

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Feng, Bao. "Robust Control for Lateral and Longitudinal Channels of Small-Scale Unmanned Helicopters." Journal of Control Science and Engineering 2015 (2015): 1–8. http://dx.doi.org/10.1155/2015/483096.

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Lateral and longitudinal channels are two closely related channels whose control stability influences flight performance of small-scale unmanned helicopters directly. This paper presents a robust control approach for lateral and longitudinal channels in the presence of parameter uncertainties and exogenous disturbances. The proposed control approach is performed by two steps. First, by performing system identification in frequency domain, system model of lateral and longitudinal channels can be accurately identified. Then, a robustH∞state feedback controller is designed to stabilize the helico

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Lai, Fei, and Hui Yang. "Integrated Longitudinal and Lateral Control of Emergency Collision Avoidance for Intelligent Vehicles under Curved Road Conditions." Applied Sciences 13, no. 20 (2023): 11352. http://dx.doi.org/10.3390/app132011352.

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The operation of the automatic emergency braking (AEB) system may lead to a significant increase in lateral offset of vehicles in curved road conditions, which can pose a potential risk of collisions with vehicles in adjacent lanes or road edges. In order to address this issue, this study proposes an integrated longitudinal and lateral control strategy for collision avoidance during emergency braking, which utilizes a control algorithm based on Time to Collision (TTC) for longitudinal control and a control algorithm based on yaw angle and preview point lateral deviation for lateral control. On

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Sivaraj, D. "Vision Based Autonomous Lateral and Longitudinal Control System." International Journal of Instrumentation and Control Systems 2, no. 4 (2012): 73–91. http://dx.doi.org/10.5121/ijics.2012.2407.

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Nilsson, Julia, Mattias Brannstrom, Jonas Fredriksson, and Erik Coelingh. "Longitudinal and Lateral Control for Automated Yielding Maneuvers." IEEE Transactions on Intelligent Transportation Systems 17, no. 5 (2016): 1404–14. http://dx.doi.org/10.1109/tits.2015.2504718.

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Xu, Tao. "Dynamic analysis and vibration control for overhead hoist transport." Journal of Physics: Conference Series 2425, no. 1 (2023): 012049. http://dx.doi.org/10.1088/1742-6596/2425/1/012049.

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Abstract The OHT system is a transport device used for intra- or inter-plant transport in a fab or other factory, the load-bearing part of the goods stored under the trolley generates longitudinal vibration and lateral oscillation due to inertia force When the OHT in the air starts or stops. Firstly, the trolley dynamic model under the action of lateral thrust and longitudinal tensile force need to be established. secondly, the coupling analysis of horizontal oscillation and longitudinal oscillation on the model is carried out. Thirdly, aiming at the lateral swing and longitudinal vibration of

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Irmawan, Erwhin, and Erwan Eko Prasetiyo. "Kendali Adaptif Neuro Fuzzy PID untuk Kestabilan Terbang Fixed Wing UAV (Adaptive Control of Neuro Fuzzy PID for Fixed Wing UAV Flight Stability)." Jurnal Nasional Teknik Elektro dan Teknologi Informasi 9, no. 1 (2020): 73–78. http://dx.doi.org/10.22146/jnteti.v9i1.142.

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Unmanned Aerial Vehicle (UAV), especially fixed wing, are widely used to carry out various missions, namely civil and military missions. To support the implementation of this mission, it is necessary to develop an intelligent automatic control system (autopilot). In this paper, an autopilot system with adaptive neuro fuzzy PID control is developed to control lateral (pitch) and longitudinal (roll) motion, by taking advantage of PID, fuzzy, and neural network control. Therefore, robust controls which can handle non-linear conditions can be formed. This paper aims to determine the performance of

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Chu, Liang, Yong Sheng Zhang, Yan Ru Shi, Ming Fa Xu, and Yang Ou. "Vehicle Lateral and Longitudinal Velocity Estimation Using Coupled EKF and RLS Methods." Applied Mechanics and Materials 29-32 (August 2010): 851–56. http://dx.doi.org/10.4028/www.scientific.net/amm.29-32.851.

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In order to meet the cost requirement of lateral and longitudinal velocity measured directly in vehicle active safety control systems, based on 3-DOF vehicle model and the Recursive Least Squares (RLS) which can identify the tire cornering stiffness online, a control algorithm using Extended Kalman Filter(EKF) to estimate lateral and longitudinal velocity is proposed. The estimation values are compared with simulator values from CarSim. The compared results demonstrated that the proposed algorithm could estimate the lateral and longitudinal velocity accurately and robustly.

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Zhang, Sheng, and Xiangtao Zhuan. "Two-Dimensional Car-Following Control Strategy for Electric Vehicle Based on MPC and DQN." Symmetry 14, no. 8 (2022): 1718. http://dx.doi.org/10.3390/sym14081718.

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For the coupling problem of longitudinal control and lateral control of vehicles, a two-dimensional (2-D) car-following control strategy for an electric vehicle is proposed in this paper. First, a 2-D car-following model for longitudinal following and lateral lane keeping is established. Then, a 2-D car-following control strategy is designed, and the longitudinal following control and lateral lane keeping control are integrated into one model predictive control (MPC) framework. The 2-D car-following strategy can realize the multi-objective coordinated optimization for longitudinal control and

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Tsugawa, Sadayuki. "An Overview on Control Algorithms for Automated Highway Systems." Journal of Robotics and Mechatronics 13, no. 4 (2001): 381–86. http://dx.doi.org/10.20965/jrm.2001.p0381.

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This paper surveys lateral and longitudinal vehicle control algorithms in automated highway systems. In the lateral control, an onboard sensing system detects or captures a reference on a roadway indicating the path of an automated vehicle, and PID control and state variable feedback control based on the modern control theory with deviation from a planned path are mainly used to drive the vehicle along the path. In the longitudinal control, an inter-vehicle gap and relative speed to a preceding vehicle are measured, and feedback control with state variables including deviations in the gap, rel

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Young, G. E., and K. N. Reid. "Lateral and Longitudinal Dynamic Behavior and Control of Moving Webs." Journal of Dynamic Systems, Measurement, and Control 115, no. 2B (1993): 309–17. http://dx.doi.org/10.1115/1.2899071.

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A web refers to any material in continuous flexible strip form which is either endless or very long compared to its width, and very wide compared to its thickness. This paper discusses the dynamic analysis and control of the lateral and longitudinal motions of a moving web which correspond to fluctuations perpendicular and parallel, respectively, to the primary direction of web transport. Historical perspectives are provided, from the early work of Osborne Reynolds in the late 1800s to current research. An overview of the control of both lateral and longitudinal web motion, which includes the

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Mokhiamar, Ossama, and Masato Abe. "Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control." Journal of Dynamic Systems, Measurement, and Control 126, no. 4 (2004): 753–63. http://dx.doi.org/10.1115/1.1850533.

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This paper presents a proposed optimum tire force distribution method in order to optimize tire usage and find out how the tires should share longitudinal and lateral forces to achieve a target vehicle response under the assumption that all four wheels can be independently steered, driven, and braked. The inputs to the optimization process are the driver’s commands (steering wheel angle, accelerator pedal pressure, and foot brake pressure), while the outputs are lateral and longitudinal forces on all four wheels. Lateral and longitudinal tire forces cannot be chosen arbitrarily, they have to s

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Xu, Jingbo, Jingbo Zhao, Jianfeng Zheng, and Haimei Liu. "Intelligent Vehicle Trajectory Tracking Based on Horizontal and Vertical Integrated Control." World Electric Vehicle Journal 15, no. 11 (2024): 513. http://dx.doi.org/10.3390/wevj15110513.

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To address the common issues of accuracy and stability in trajectory tracking tasks for autonomous vehicles, this study proposes an innovative composite control strategy that skillfully integrates lateral and longitudinal dynamic control. For lateral control, model predictive control (MPC) theory is introduced to compute the front wheel steering angle that ensures optimal trajectory following. On the longitudinal control level, the vehicle’s acceleration and deceleration logic are finely tuned to ensure precise adherence to the preset speed trajectory. More importantly, by deeply integrating t

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Tao, Hua, and Baocheng Yang. "Coordinated Control of Unmanned Electric Formula Car." World Electric Vehicle Journal 14, no. 3 (2023): 58. http://dx.doi.org/10.3390/wevj14030058.

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The coordinated control method of Unmanned Electric Formula Racing (UEFC) was studied to improve the handling stability of UEFC. The UEFC’s mechanical structure, which is based on the driving system and transmission system, was designed. In accordance with mechanical structure of the designed racing car, a seven-degree of freedom mathematical model of the UEFC was established. In accordance with the built mathematical model of racing car, the lateral controller of racing car was designed by using a fuzzy neural network method. The longitudinal controller of the racing car was designed by using

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Chelaru, Teodor Viorel, Valentin Pana, and Adrian Chelaru. "Longitudinal Control System Design Using Gradient Method for a Suborbital Launcher." Applied Mechanics and Materials 555 (June 2014): 113–20. http://dx.doi.org/10.4028/www.scientific.net/amm.555.113.

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The aim of this paper is to present a design method for the guidance navigation and control system (GNC) of a suborbital launcher. In order to achieve a symmetric evolution in the vertical plane we start with the decoupled form of the equation of motion. Afterwards these equations are linearized and the extended stability and command matrices are constructed by adding some auxiliary equations. The linear control law is obtained and the control matrix containing the unknown coefficients is presented. The design of the control system is based on a modified gradient method. To illustrate the prop

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Li, Laëtitia, Brigitte d’Andréa-Novel, and Arnaud Quadrat. "Longitudinal and lateral control for four wheel steering vehicles." IFAC-PapersOnLine 53, no. 2 (2020): 15713–18. http://dx.doi.org/10.1016/j.ifacol.2020.12.2573.

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Attia, Rachid, Rodolfo Orjuela, and Michel Basset. "Combined longitudinal and lateral control for automated vehicle guidance." Vehicle System Dynamics 52, no. 2 (2014): 261–79. http://dx.doi.org/10.1080/00423114.2013.874563.

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Kirchner, William T., and Steve C. Southward. "Adaptive vehicle traction control: combined longitudinal and lateral motion." International Journal of Dynamics and Control 1, no. 3 (2013): 239–53. http://dx.doi.org/10.1007/s40435-013-0022-0.

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Banjac, Goran, Momir Stanković, and Stojadin Manojlović. "Active disturbance rejection control of unmanned tracked vehicle." Scientific Technical Review 72, no. 2 (2022): 50–55. http://dx.doi.org/10.5937/str2202050b.

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Significant improvement of the unmanned vehicles possibility has achieved by increasing its autonomy, i.e. by excluding the human operator from the guidance loop. In this paper is considered the autonomous control of the unmanned tracked vehicle (UTV) in the presence of the unknown caterpillar tracks slippage. The longitudinal and lateral control model for the UTV path following problem are developed. To handle unknown uncertainties and slippage disturbances, the design of active disturbance rejection control (ADRC) for both, longitudinal and lateral control channels, are proposed. ADRC strate

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Wan, Ziheng, Chaobin Xu, Bazhou Li, Yang Li, and Fangping Ye. "Trajectory Tracking Method of Four-Wheeled Independent Drive and Steering AGV Based on LSTM-MPC and Fuzzy PID Cooperative Control." Electronics 14, no. 10 (2025): 2000. https://doi.org/10.3390/electronics14102000.

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With the ongoing advancements in automation technology, four-wheeled independent drive and steering (4WID-4WIS) automated guided vehicles (AGVs) are increasingly employed in intelligent logistics and warehousing systems. To enhance the performance of path tracking accuracy and cruising stability of AGVs, an automatic cruising methodology is proposed operating in complex environments. The approach integrates lateral control through model predictive control (MPC), which is optimized by a Long Short-Term Memory (LSTM) network, alongside fuzzy PID control for longitudinal management. By utilizing

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Cook, M. V., J. M. Lipscombe, and F. Goineau. "Analysis of the stability modes of the non-rigid airship." Aeronautical Journal 104, no. 1036 (2000): 279–90. http://dx.doi.org/10.1017/s0001924000091612.

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Abstract This paper describes and compares various analyses leading to the development of approximate models for the linear stability modes of the non-rigid airship. The progress of the analyses was variously dependent on assumptions made from the detailed scrutiny of linear numerical models for three airships. For each airship studied, the linear models were obtained from non-linear simulation models by linearising about a number of chosen trim speeds representative of a typical speed envelope. The decoupled linear models comprised the longitudinal and lateral-directional state equations of t

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Xue, Qingwan, Xingyue Wang, Yinghong Li, and Weiwei Guo. "Young Novice Drivers’ Cognitive Distraction Detection: Comparing Support Vector Machines and Random Forest Model of Vehicle Control Behavior." Sensors 23, no. 3 (2023): 1345. http://dx.doi.org/10.3390/s23031345.

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The use of mobile phones has become one of the major threats to road safety, especially in young novice drivers. To avoid crashes induced by distraction, adaptive distraction mitigation systems have been developed that can determine how to detect a driver’s distraction state. A driving simulator experiment was conducted in this paper to better explore the relationship between drivers’ cognitive distractions and traffic safety, and to better analyze the mechanism of distracting effects on young drivers during the driving process. A total of 36 participants were recruited and asked to complete a

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