Nonlinear Analysis and Intelligent Control of Integrated Vehicle Dynamics

Table 5

Lyapunov exponents for road test.

Measurement points			Lyapunov exponents
Slip angle	Step input	PID control	1.89
		Intelligent control	−0.55
	Snake input	PID control	2.29
		Intelligent control	−0.23
Yaw velocity	Step input	PID control	3.18
		Intelligent control	−0.16
	Snake input	PID control	5.16
		Intelligent control	−1.66