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Requirement d) translates into final conditions (4) on the following selected state variables: Open image in new window (11 which corresponds to steady state motion with null roll rate and longitudinal acceleration, with the vehicle at the centre of the lane, whereas the final values of roll angle and yaw rate are automatically computed consistent with final forward velocity and road curvature.
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In addition, the proposed AMC method shows acceptable performance with practical values of roll-off factor.
Figure 20 Average P cc with values of roll-off factor 0.25, 0.35, and 0.45. Figure 21 Average P cc for different values of frequency offset.
Absolute value of roll remained <30° over 80% of the tag records, and exceeded 30° most commonly during horizontal swimming.
Cable told Sky News that "anything which fundamentally threatens to diminish the value of Rolls-Royce could be a trigger for the government to take a stake".
It can also be found that the peak values of the roll and pitch angles have significant decrease amplitudes under the control of our FSMC controller.
On this basis, a fuzzy sliding mode controller (FSMC) is designed to improve the control accuracy of the vehicle height adjustment and to reduce the peak values of the roll and pitch angles of the vehicle body.
To better show the dynamic performance of the FSMC strategy, the actual vehicle heights at four corners and the peak values of the roll and pitch angles of the vehicle body are illustrated in Table 2.
As shown in Figure 6 and Table 2, the controller shows high precision in the vehicle height adjustment, and the peak values of the roll and pitch angles of the vehicle body are also reduced significantly.
The control objectives of the proposed method are to ensure the vehicle height can be controlled in high precision and the peak values of the roll and pitch angles of the vehicle body can be reduced significantly despite payload variations and parameters difference.
(2) As a robust control method, the FSMC technique can be used to ensure the vehicle height adjustment precision and stabilize the posture of the vehicle body during the vehicle height adjustment procedure of EAS system, i.e., the peak values of the roll and pitch angles can be decreased significantly.
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