@article{ref1,
title="Braking controllers and steering controllers for combination vehicles",
journal="Heavy vehicle systems",
year="1994",
author="Kimbrough, S and Elwell, M and Chiu, C",
volume="1",
number="2",
pages="195-222",
abstract="Methods for deriving braking controllers and steering controllers for combination vehicles (i.e. tow-vehicle and trailer(s) combination) are described. Central to the development of these controllers is a vehicle model in which the tyre forces are represented as bilinear functions of wheelslip and slipangle. This tyre force representation is valid for tyre forces below saturation levels. It captures the essential trade-off between cornering forces and braking or accelerating forces, Moreover, when the bilinear equations are substituted into the equations of motion, the resulting vehicle model is bilinear. This is important because a large family of control strategies is available for bilinear systems. These control strategies are based on Lyapunov Theory.<p />",
language="",
issn="1351-7848",
doi="",
url="http://dx.doi.org/"
}