Nonlinear Analysis and Intelligent Control of Integrated Vehicle Dynamics

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="832864.fig.0016a" src="https://static.hindawi.com/articles/mpe/volume-2014/832864/figures/832864.fig.0016a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Slip angle of vehicle body</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="832864.fig.0016b" src="https://static.hindawi.com/articles/mpe/volume-2014/832864/figures/832864.fig.0016b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Yaw velocity of vehicle body</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="832864.fig.0016c" src="https://static.hindawi.com/articles/mpe/volume-2014/832864/figures/832864.fig.0016c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Phase portrait without control</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="832864.fig.0016d" src="https://static.hindawi.com/articles/mpe/volume-2014/832864/figures/832864.fig.0016d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Phase portrait with intelligent control</td></tr></table></td></tr></table>

<table>Vehicle results for angle step steering input.</table>

Mathematical Problems in Engineering

fig16

Figure 16

Figure 16: Nonlinear Analysis and Intelligent Control of Integrated Vehicle Dynamics 