Vehicle dynamics applications of optimal control theory

References

• Athans , M. A. and Falb , P. L. 1966 . Optimal Control , New York : McGraw-Hill .
   Google Scholar
• Kwakernaak , H. and Sivan , R. 1972 . Linear Optimal Control Systems , New York : Wiley-Interscience .
   Google Scholar
• Bryson , A. E. and Ho , Y. C. 1975 . Applied Optimal Control , 2 , Washington, DC : Hemisphere Publishing Corporation .
   Google Scholar
• Anderson , B. D.O. and Moore , J. B. 1989 . Optimal Control: Linear Quadratic Methods , Englewood Cliffs, NJ : Prentice-Hall .
   Google Scholar
• Kirk , D. E. 2004 . Optimal Control Theory: An Introduction , Mineola, NY : Dover Publications .
   Google Scholar
• Thompson , A. G. and Davis , B. R. 1992 . Optimal active suspension design using a frequency-shaping PID filter . Veh. Syst. Dyn. , 21 : 19 – 37 .
   Web of Science ®Google Scholar
• Tomizuka , M. and Hedrick , J. K. 1995 . Advanced control methods for automotive applications . Veh. Syst. Dyn. , 24 : 449 – 468 .
   Web of Science ®Google Scholar
• Gelb , A. 1974 . Applied Optimal Estimation , Cambridge, MA : MIT Press .
   Google Scholar
• Jacobs , O. L.R. 1993 . Introduction to Control Theory , 2 , Oxford, , UK : Oxford University Press .
   Google Scholar
• Thompson , A. G. , Davis , B. R. and Salzborn , F. J.M. 1984 . Active suspensions with vibration absorbers and optimal output feedback control , Warrendale, PA : SAE 841253, SAE International .
   Google Scholar
• Hac , A. 1985 . Suspension optimisation of a 2-dof vehicle model using a stochastic optimal control technique . J. Sound Vibration , 100 : 343 – 357 .
   Web of Science ®Google Scholar
• Wilson , D. A. , Sharp , R. S. and Hassan , S. A. 1986 . The application of linear optimal control theory to the design of active automotive suspensions . Veh. Syst. Dyn. , 15 : 105 – 118 .
   Web of Science ®Google Scholar
• Sharp , R. S. and Hassan , S. A. 1987 . On the performance capabilities of active automobile suspension systems of limited bandwidth . Veh. Syst. Dyn. , 16 : 213 – 225 .
   Web of Science ®Google Scholar
• Sharp , R. S. and Hassan , J. H. 1988 . Performance predictions for a pneumatic active car suspension system . Proc. IMechE. D, J. Automob. Eng. , 202 : 243 – 250 .
   Google Scholar
• Hac , A. 1992 . Optimal linear preview control of active vehicle suspension . Veh. Syst. Dyn. , 21 : 167 – 195 .
   Web of Science ®Google Scholar
• Sharp , R. S. and Hassan , S. A. 1986 . The relative performance capabilities of passive, active and semi-active car suspension systems . Proc. IMechE. D, J. Automob. Eng. , 200 : 219 – 228 .
   Google Scholar
• Du , H. and Zhang , N. 2008 . Designing H1/GH2 static-output feedback controller for vehicle suspensions using linear matrix inequalities and genetic algorithms . Veh. Syst. Dyn. , 46 : 385 – 412 .
   Web of Science ®Google Scholar
• Bender , E. K. 1968 . Optimum linear preview control with application to vehicle suspension . Trans. ASME, J. Basic Eng. , 90 : 213 – 221 .
   Web of Science ®Google Scholar
• Tomizuka , M. and Whitney , D. E. 1975 . Optimal discrete finite preview problems (why and how is future information important?) . Trans. ASME, J. Dyn. Syst. Meas. Control , 97 : 319 – 325 .
   Google Scholar
• Tomizuka , M. 1976 . Optimal linear preview control with application to vehicle suspension – revisited . Trans. ASME, J. Dyn. Syst. Meas. Control , 98 : 309 – 315 .
   Google Scholar
• Thompson , A. G. , Davis , B. R. and Pearce , C. E.M. 1980 . An optimal linear active suspension with finite road preview , Warrendale, PA : SAE 800520, SAE International .
   Google Scholar
• Louam , N. , Wilson , D. A. and Sharp , R. S. 1992 . Optimisation and performance enhancement of limited bandwidth active suspensions for automobiles under preview of the road . Veh. Syst. Dyn. , 21 : 39 – 63 .
   Web of Science ®Google Scholar
• Louam , N. , Wilson , D. A. and Sharp , R. S. 1988 . Optimal control of a vehicle suspension incorporating the time delay between front and rear wheel inputs . Veh. Syst. Dyn. , 17 : 317 – 336 .
   Web of Science ®Google Scholar
• Prokop , G. and Sharp , R. S. 1995 . Performance enhancement of limited bandwidth active automotive suspensions by road preview . IEE Proc., Control Theory Appl. , 142 : 140 – 148 .
   Google Scholar
• Gordon , T. J. , Marsh , C. and Milsted , M. G. 1990 . Control law design for active and semi-active automobile suspension system . VDI–Ber. , 816 : 537 – 546 .
   Google Scholar
• Cimen , T. 2008 . State-dependent Riccati equation control: A survey . Proceedings of the 17th World Congress IFAC . July 2008 , Seoul. pp. 3761 – 3775 .
   Google Scholar
• Gill , P. E. , Murray , W. and Wright , M. H. 1981 . Practical Optimization , London : Academic Press .
   Google Scholar
• Fletcher , R. 1987 . Practical Methods of Optimization , Chichester, , UK : Wiley-Interscience .
   Google Scholar
• Antoniou , A. and Lu Practical , W. S. 2007 . Optimization – Algorithms and Engineering Applications , New York : Springer .
   Google Scholar
• Sage , A. P. 1968 . Optimum Systems Control , New Jersey : Prentice-Hall .
   Google Scholar
• Casanova , D. 2000 . On minimum-time vehicle manoeuvring: The theoretical optimal lap , Cranfield University . Doctoral thesis
   Google Scholar
• Maciejowski , J. M. 2002 . Predictive Control with Constraints , Harlow, , England : Pearson Prentice Hall .
   Google Scholar
• Press , W. H. , Teukolsky , S. A. , Vetterling , W. T. and Flannery , B. P. 2007 . Numerical Recipes: The Art of Scientific Computing , 3 , Cambridge, , UK : Cambridge University Press .
   Google Scholar
• Best , M. C. and Gordon , T. J. Simultaneous Optimisation of Vehicle Parameter and Control Action to Examine the Validity of Handling Control Assumptions . Proceedings of the 6th International Symposium on Automotive Control (AVEC 2002) . September 9–13 . pp. 6 Hiroshima : SAE of Japan .
   Google Scholar
• Bertolazzi , E. , Biral , F. and da Lio , M. 2005 . Symbolic-numeric indirect method for solving optimal control problems for large multibody systems: The time-optimal racing vehicle example . Multibody Syst. Dyn. , 13 : 233 – 252 .
   Web of Science ®Google Scholar
• Rawlings , J. B. 2000 . Tutorial overview of model predictive control . IEEE Trans. Control Syst. Mag , : 38 – 52 .
   Google Scholar
• Findeisen , R. and Allgöwer , F. 2001 . “ An introduction to nonlinear model predictive control, in Summerschool on ‘The Impact of Optimization in Control’ ” . Edited by: Scherer , C. W. and Schumacher , J. M. 3.1 – 3.45 . Netherlands : Dutch Institute of Systems and Control, DISC .
   Google Scholar
• Findeisen , R. , Imsland , L. , Allgöwer , F. and Foss , B. A. 2003 . State and output feedback nonlinear model predictive control: An overview . Eur. J. Control , 9 : 179 – 195 .
   Web of Science ®Google Scholar
• Qin , S. J. and Badgwell , T. A. 2003 . A survey of industrial model predictive control technology . Control Eng. Pract. , 11 : 733 – 764 .
   Web of Science ®Google Scholar
• Morari , M. and Zafiriou , E. 1989 . Robust Process Control , Upper Saddle River, NJ : Prentice-Hall . ISBN 0-13-782153-0
   Google Scholar
• Green , M. and Limebeer , D. J.N. 1995 . Linear Robust Control , Englewood Cliffs, NJ : Prentice-Hall . ISBN 0-13-102278-4
   Google Scholar
• Zhou , K. and Doyle , J. C. 1999 . Essentials of Robust Control , Upper Saddle River, NJ : Prentice-Hall . ISBN 0-13-525833-2
   Google Scholar
• Skogestad , S. and Postlethwaite , I. 2005 . Multivariable Feedback Control: Analysis and Design , New York : Wiley . ISBN 0-470-01167-X
   Google Scholar
• Akbari , A. and Lohmann , B. 2010 . Output feedback H1/GH2 preview control of active vehicle suspensions: A comparison study of LQG preview . Veh. Syst. Dyn. , 48 : 1475 – 1494 .
   Web of Science ®Google Scholar
• Hedrick , J. K. and Wormley , D. N. 1975 . “ Active suspension for ground transport vehicles – a state of the art review ” . In Proceedings of the ASME Symposium on Mechanics of Transportation Suspension Systems , Vol. 15 , 21 – 39 . Houston, TX : AMD .
   Google Scholar
• Morman , K. N. and Giannopoulos , F. 1982 . Recent advances in the analytical and computational aspects of modelling active and passive vehicle suspensions . Proceedings of the ASME Symposium on Computational Methods in Ground Transportation . 1982 , Phoenix, AZ. Vol. 50 , pp. 75 – 115 .
   Google Scholar
• Sharp , R. S. and Crolla , D. A. 1987 . Road vehicle suspension system design – a review . Veh. Syst. Dyn. , 16 : 167 – 192 .
   Web of Science ®Google Scholar
• Hrovat , D. 1993 . Applications of optimal control to advanced automotive suspension design . Trans. ASME, J. Dyn. Syst. Meas. Control , 115 : 328 – 342 .
   Web of Science ®Google Scholar
• Hrovat , D. 1997 . Survey of advanced suspension developments and related optimal control applications . Automatica , 33 : 1781 – 1817 .
   Web of Science ®Google Scholar
• Elbeheiry , E. M. , Karnopp , D. C. , Elaraby , M. E. and Abdelraaouf , A. M. 1995 . Advanced ground vehicle suspension systems a classified bibliography . Veh. Syst. Dyn. , 24 : 231 – 258 .
   Web of Science ®Google Scholar
• Valasek , M. and Kortuem , W. 2002 . “ Semi-active suspension systems 11 ” . In Mechanical Systems Design Handbook , Edited by: Hurmuzlu , Y. and Nwokah , O. 230 – 247 . Raton : CRC Press, Boca .
   Google Scholar
• Dodds , C. J. and Robson , J. D. 1973 . The description of road surface roughness . J. Sound Vibration , 31 : 175 – 183 .
   Web of Science ®Google Scholar
• Cebon , D. and Newland , D. E. The artificial generation of road surface topography by the inverse FFT method . Proceedings of the 8th IAVSD Symposium on Dynamics of Vehicles on Roads and on Railway Tracks . Edited by: Hedrick , J. K. pp. 29 – 42 . Lisse : Swets and Zeitlinger .
   Google Scholar
• Sayers , M. W. 1986 . Characteristic power spectral density functions for vertical and roll components of road roughness . Proceedings of the ASME Symposium on Simulation and Control of Ground Vehicles and Transportation Systems . 1986 , Anaheim, CA. pp. 113 – 139 .
   Google Scholar
• Ammon , D. Problems in road surface modelling . Proceedings of the 12th IAVSD Symposium on Dynamics of Vehicles on Roads and on Tracks, . Edited by: Sauvage , G. Vol. 20 , pp. 28 – 41 . Lisse : Swets and Zeitlinger . (Supplement to Vehicle System Dynamics)
   Google Scholar
• Ruf , G. 1978 . The calculation of the vibrations of a four-wheeled vehicle, induced by random road roughness of the left and right track . Veh. Syst. Dyn. , 7 : 1 – 23 .
   Web of Science ®Google Scholar
• Rill , G. The influence of correlated random road excitation on vehicle vibration . Proceedings of the 8th IAVSD Symposium on Dynamics of Vehicles on Roads and on Railway Tracks . Edited by: Hedrick , J. K. pp. 449 – 459 . Lisse : Swets and Zeitlinger .
   Google Scholar
• Sharp , R. S. Decoupling in automotive active suspension system design . Proceedings of the IUTAM Symposium on Interaction Between Dynamics and Control in Advanced Mechanical Systems . Edited by: van Campen , D. H. pp. 363 – 374 . Dordrecht : Kluwer .
   Google Scholar
• Duym , S. W.R. 2000 . Simulation tools, modeling and identification for an automotive shock absorber in the context of vehicle dynamics . Veh. Syst. Dyn. , 33 : 261 – 285 .
   Web of Science ®Google Scholar
• Pacejka , H. B. 2002 . Tyre and Vehicle Dynamics , Oxford, , UK : Butterworth Heinemann . ISBN 0-7506-5141-5
   Google Scholar
• Thompson , A. G. 1969 . Optimum damping in a randomly excited non-linear suspension . Proc. IMechE. Part 2A , 184 : 169 – 178 .
   Google Scholar
• Sharp , R. S. and Pilbeam , C. 1993 . “ Achievability and value of passive suspension designs for minimum pitch response ” . In Vehicle Ride and Handling , 243 – 259 . MEP, Bury St Edmunds . ISBN 0 85298 861 3
   Google Scholar
• Crolla , D. A. and King , R. P. Olley's ‘Flat Ride’ revisited . Proceedings of the 16th IAVSD Symposium on Dynamics of Vehicles on Roads and on Tracks . Edited by: Fröhling , R. Vol. 33 , pp. 762 – 774 . Lisse : Swets and Zeitlinger . (Supplement to Vehicle System Dynamics)
   Google Scholar
• Sharp , R. S. 2002 . Wheelbase filtering and automobile suspension tuning for minimising motions in pitch . Proc. IMechE. D, J. Automob. Eng. , 216 : 933 – 946 .
   Web of Science ®Google Scholar
• Alleyne , A. and Liu , R. 1999 . On the limitations of force tracking control for hydraulic servosystems . Trans. ASME, J. Dyn. Syst. Meas. Control , 121 : 184 – 190 .
   Web of Science ®Google Scholar
• Zhang , Y. and Alleyne , A. 2005 . A practical and effective approach to active suspension control . Veh. Syst. Dyn. , 43 : 305 – 330 .
   Web of Science ®Google Scholar
• Chantranuwathana , S. and Peng , H. 1999 . Adaptive robust control for active suspensions . Proceedings of the 1999 American Control Conference . 1999 , San Diego, CA.
   Google Scholar
• Chantranuwathana , S. and Peng , H. 2004 . Adaptive robust force control for vehicle active suspensions . Int. J. Adapt. Control Signal Process. , 18 : 83 – 102 .
   Web of Science ®Google Scholar
• Shen , X. and Peng , H. Analysis of active suspension systems with hydraulic actuators . Proceedings of the IAVSD Symposium on the Dynamics of Vehicles on Roads and on Tracks, . Kanagawa, Japan. Edited by: Abe , M. Vol. 41 , pp. 143 – 152 . London : Taylor & Francis . (Supplement to Vehicle System Dynamics)
   Google Scholar
• Thompson , A. G. and Chaplin , P. M. 1996 . Force control in electrohydraulic active suspensions . Veh. Syst. Dyn. , 25 : 185 – 202 .
   Web of Science ®Google Scholar
• Bender , E. K. , Karnopp , D. C. and Paul , I. L. 1967 . “ On the optimization of vehicle suspensions using random process theory ” . ASME 67-Tran-12
   Google Scholar
• Yue , C. , Butsuen , T. and Hedrick , J. K. 1989 . Alternative control laws for automotive active suspensions . Trans. ASME, J. Dyn. Syst. Meas. Control , 111 : 286 – 290 .
   Web of Science ®Google Scholar
• Mechanical vibration and shock – evaluation of human exposure to whole-body vibration, Part 1: general requirements, International Organisation for Standardisation ISO 2631-1, 2nd ed. 1997-05-01, corrected and reprinted 1997-07-15 ed. (1997)
   Google Scholar
• Chalasani , R. M. Ride performance potential of active suspension systems – Part 1: Simplified analysis based on a quarter-car model . Proceedings of the ASME Symposium on Simulation and Control of Ground Vehicles and Transportation Systems , Vol. 80 , pp. 187 – 204 . AMD .
   Google Scholar
• Thompson , A. G. 1976 . An active suspension with optimal linear state feedback . Veh. Syst. Dyn. , 5 : 187 – 203 .
   Web of Science ®Google Scholar
• Chalasani , R. M. 1986 . “ Ride performance potential of active suspension systems – Part 11: Complex analysis based on a full-car model ” . In Proceedings of the ASME Symposium on Simulation and Control of Ground Vehicles and Transportation Systems , Vol. 80 , 205 – 226 . Los Angeles, CA : AMD .
   Google Scholar
• Davis , B. R. and Thompson , A. G. 1988 . Optimal linear active suspensions with integral constraint . Veh. Syst. Dyn. , 17 : 357 – 366 .
   Web of Science ®Google Scholar
• Thompson , A. G. 1984 . Optimal and sub-optimal linear active suspensions for road vehicles . Veh. Syst. Dyn. , 13 : 61 – 72 .
   Web of Science ®Google Scholar
• Sharp , R. S. and Hassan , S. A. 1987 . Performance and design considerations for dissipative semi-active suspension systems for automobiles . Proc. IMechE. D, J. Automob. Eng. , 201 : 149 – 153 .
   Google Scholar
• Hac , A. 1987 . Adaptive control of vehicle suspension . Veh. Syst. Dyn. , 16 : 57 – 74 .
   Web of Science ®Google Scholar
• Gordon , T. J. , Marsh , C. and Milsted , M. G. 1991 . A comparison of adaptive LQG and nonlinear controllers for vehicle suspension systems . Veh. Syst. Dyn. , 20 : 321 – 340 .
   Web of Science ®Google Scholar
• Yu , F. and Crolla , D. A. 1994 . “ Adaptive strategies for active vehicle suspension control ” . In The Active Control of Vibration , Edited by: Burrows , C. R. and Keogh , P. S. 161 – 168 . London : Mechanical Engineering Publications .
   Google Scholar
• Pilbeam , C. and Sharp , R. S. 1996 . “ Performance enhancement by control law adaptation in slow-active road vehicle suspensions ” . In Proceedings of the 14th IAVSD Symposium on the Dynamics of Vehicles on Roads and on Tracks , Edited by: Segel , L. Vol. 25 , 533 – 546 . Lisse : Swets and Zeitlinger . (Supplement to Vehicle System Dynamics)
   Google Scholar
• Williams , R. A. 1997 . Automotive active suspensions Part 1: Basic principles . Proc. IMechE. D, J. Automob. Eng. , 211 : 415 – 426 .
   Web of Science ®Google Scholar
• Yokoya , Y. , Kizu , R. , Kawaguchi , H. , Ohashi , K. and Ohno , H. 1990 . Integrated control system between active control suspension and four wheel steering for the 1989 CELICA , Warrendale, PA : SAE 901748, SAE International .
   Google Scholar
• Aoyama , Y. , Kawabata , K. , Hasegawa , S. , Kaobari , Y. and Sato , M. 1990 . Development of full active suspension by Nissan , Warrendale, PA : SAE 901747, SAE International .
   Google Scholar
• Williams , R. A. , Best , A. and Crawford , I. L. 1993 . “ Refined low frequency active suspension ” . In Vehicle Ride and Handling , 285 – 300 . MEP, Bury St Edmunds . ISBN 0 85298 861 3
   Google Scholar
• Pilbeam , C. and Sharp , R. S. 1996 . Performance potential and power consumption of slow active suspension systems with preview . Veh. Syst. Dyn. , 25 : 169 – 183 .
   Web of Science ®Google Scholar
• Williams , R. A. and Miller , S. A. 1994 . Power consumption in automotive active suspensions . Proceedings of the International Conference on Systems Engineering . 1994 , Coventry.
   Google Scholar
• Williams , R. A. 1997 . Automotive active suspensions Part 2: Practical considerations . Proc. IMechE. D, J. Automob. Eng. , 211 : 427 – 444 .
   Web of Science ®Google Scholar
• Tseng , H. E. and Hedrick , J. K. 1994 . Semi-active control laws: Optimal and sub-optimal . Veh. Syst. Dyn. , 23 : 545 – 569 .
   Web of Science ®Google Scholar
• Giorgetti , N. , Bemporad , A. , Tseng , H. E. and Hrovat , D. 2006 . Hybrid model predictive control application towards optimal semi-active suspension . Int. J. Control , 79 : 521 – 533 .
   Web of Science ®Google Scholar
• Prokop , G. and Sharp , R. S. 1994 . “ On the properties of a preview controlled discrete time system with use of a state observer-application to a limited-bandwidth vehicle suspension ” . In Proceedings of the IUTAM Symposium on the Active Control of Vibration , 141 – 152 . University of Bath .
   Google Scholar
• Sharp , R. S. and Pilbeam , C. 1994 . “ On the ride comfort benefits available from road preview with slow-active car suspensions ” . In Proceedings of the 13th IAVSD Symposium on Dynamics of Vehicles on Roads and on Railway Tracks , Edited by: Shen , Z. Y. Vol. 23 , 437 – 448 . Lisse : Swets and Zeitlinger . (Supplement to Vehicle System Dynamics)
   Google Scholar
• Gordon , T. J. and Sharp , R. S. 1998 . On improving the performance of automotive semi-active suspensions through road preview . J. Sound Vibration , 217 : 163 – 182 .
   Web of Science ®Google Scholar
• Gordon , T. J. , Marsh , C. and Wu , Q. H. 1993 . Stochastic optimal control of active vehicle suspensions using learning automata . Proc. IMechE. I, J. Syst. Control Eng. , 207 : 143 – 152 .
   Google Scholar
• Valasek , M. , Novak , M. , Sika , Z. and Vaculin , O. 1997 . Extended Groundhook New Concept of Semiactive Control of Truck's Suspension . Veh. Syst. Dyn. , 27 : 289 – 303 .
   Web of Science ®Google Scholar
• Valasek , M. and Kejval , J. New direct synthesis of nonlinear optimal control of semi-active suspensions . Proceedings of the 5th International Symposium on Automotive Control (AVEC 2000) . August 22–24 , Ann Arbor, MI. pp. 691 – 697 . SAE of Japan .
   Google Scholar
• Nader , R. 1970 . Unsafe at Any Speed: The Designed-in Dangers of the American Automobile , New York : Grossman .
   Google Scholar
• Dugoff , H. , Ervin , R. D. and Segel , L. 1970 . Vehicle handling test procedures, PF-100-A , Highway Safety Research Institute, University of Michigan .
   Google Scholar
• The New Car Assessment Program: Suggested Approaches for Future Program Enhancement, National Highway Traffic Safety Administration, Department of Transportation, Washington DC, HS 810 698 (2007)
   Google Scholar
• Ma , W. H. and Peng , H. 1999 . A worst-case evaluation method for dynamic systems . Trans. ASME, J. Dyn. Syst. Meas. Control , 121 : 191 – 199 .
   Web of Science ®Google Scholar
• Ungoren , A. Y. 2003 . Worst-case evaluation methods for rollover prevention system , University of Michigan . Doctoral diss
   Google Scholar
• Jayasuriya , S. 1995 . On the determination of the worst allowable persistent bounded disturbance for a system with constraints . Trans. ASME, J. Dyn. Syst. Meas. Control , 117 : 126 – 134 .
   Web of Science ®Google Scholar
• Georgiou , T. T. and Fialho , I. J. 1999 . Worst-case analysis of nonlinear systems . IEEE Trans. Autom. Control , 44 : 1180 – 1196 .
   Web of Science ®Google Scholar
• Ma , W. H. and Peng , H. 1999 . Worst-case vehicle evaluation methodology – examples on truck rollover/jackknifing and active yaw control systems . Veh. Syst. Dyn. , 32 : 389 – 408 .
   Web of Science ®Google Scholar
• Peng , H. and Ma , W. H. 1999 . Solutions of continuous-time preview two-player differential games, . Trans. ASME, J. Dyn. Syst. Meas. Control , 121 : 326 – 330 .
   Web of Science ®Google Scholar
• Kou , Y. , Peng , H. and Jung , D. 2008 . “ Worst-case evaluation for integrated chassis control systems ” . In Proceedings of the IAVSD Symposium on the Dynamics of Vehicles on Roads and on Tracks Edited by: Hedrick , J. K. Vol. 46 , 329 – 340 . (Supplement to Vehicle System Dynamics)
   Google Scholar
• Ungoren , A. Y. and Peng , H. 2004 . Evaluation of vehicle dynamic control for rollover prevention . Int. J. Automot. Technol. , 5 : 115 – 122 .
   Web of Science ®Google Scholar
• Kou , Y. , Peng , H. and Jung , D. 2008 . Development and evaluation of an integrated cassis control system . JSAE Rev. Automot. Eng. , 29 : 425 – 438 .
   Google Scholar
• Fujioka , T. and Kimura , T. 1992 . Numerical simulation of minimum time cornering behaviour . JSAE Rev. , 13 : 44 – 51 .
   Google Scholar
• Hatwal , H. and Mikulcik , E. C. 1986 . Some inverse solutions to an automobile path-tracking problem with input control of steering and brakes . Veh. Syst. Dyn. , 15 : 61 – 71 .
   Web of Science ®Google Scholar
• Wu , A. K. and Miele , A. 1980 . Sequential conjugate-gradient restoration algorithm for optimal control problems with non-differential constraints and general boundary conditions, part 1 . Optim. Control Appl. Methods , 1 : 69 – 88 .
   Web of Science ®Google Scholar
• Wu , A. K. and Miele , A. 1980 . Sequential conjugate-gradient restoration algorithm for optimal control problems with non-differential constraints and general boundary conditions, part 2 . Optim. Control Appl. Methods , 1 : 119 – 130 .
   Web of Science ®Google Scholar
• Hendrikx , J. P.M. , Meijlink , T. J.J. and Kriens , R. F.C. 1996 . Application of optimal control theory to inverse simulation of car handling . Veh. Syst. Dyn. , 26 : 449 – 462 .
   Web of Science ®Google Scholar
• Kraft , D. and Bulirsch , R. 1994 . Computational Optimal Control , Vol. 115 , Birkhauser, Basel : International Series of Numerical Mathematics .
   Google Scholar
• Allen , J. 1997 . Computer optimisation of cornering line , Cranfield University . Master's thesis
   Google Scholar
• Cossalter , V. , da Lio , M. , Lot , R. and Fabbri , L. 1999 . A general method for the evaluation of vehicle manoeuvrability with special emphasis on motorcycles . Veh. Syst. Dyn. , 31 : 113 – 135 .
   Web of Science ®Google Scholar
• Bertolazzi , E. , Biral , F. and da Lio , M. 2007 . Real-time motion planning for multibody systems: Real life application examples . Multibody Syst. Dyn. , 17 : 119 – 139 .
   Web of Science ®Google Scholar
• Enright , P. J. and Conway , B. A. Simultaneous optimisation of vehicle parameter and control action to examine the validity of handling control assumptions . Proceedings of the AIAA/AHS Astrodynamics Conference, Part 2 . August , Portland.
   Google Scholar
• Betts , T. J. and Huffman , W. P. 1991 . Trajectory optimisation on a parallel processor . J. Guid. Control Dyn. , 14 : 431 – 439 .
   Web of Science ®Google Scholar
• Casanova , D. , Sharp , R. S. , Final , M. , Christianson , B. and Symonds , P. Application of automatic differentiation to race car performance optimisation . Proceedings of Automatic Differentiation 2000: From Simulation to Optimization . Edited by: Corliss , G. , Faure , C. , Griewank , A. , Hascot , L. and Naumann , U. pp. 113 – 121 . New York : Springer-Verlag .
   Google Scholar
• Corliss , G. , Faure , C. , Griewank , A. , Hascot , L. and Naumann , U. 2002 . Automatic Differentiation of Algorithms: From Simulation to Optimization , New York : Springer-Verlag . ISBN 0-387-95305-1
   Google Scholar
• Gill , P. E. , Murray , W. and Saunders , M. A. 1997 . “ SNOPT: An SQP algorithm for large-scale constrained optimisation ” . In Numer. Anal. Rep , Vol. 97-2 , San Diego, La Jolla, CA : Department of Mathematics, University of California .
   Google Scholar
• Casanova , D. , Sharp , R. S. and Symonds , P. 2000 . Minimum time manoeuvring: The significance of yaw inertia . Veh. Syst. Dyn. , 34 : 77 – 115 .
   Web of Science ®Google Scholar
• Casanova , D. , Sharp , R. S. and Symonds , P. On minimum time optimisation of formula one cars: The influence of vehicle mass . Proceedings of the 5th International Symposium on Automotive Control (AVEC 2000) . August 22–24 . pp. 585 – 592 . Ann Arbor, MI : SAE of Japan .
   Google Scholar
• Casanova , D. , Sharp , R. S. and Symonds , P. 2001 . Sensitivity to mass variations of the fastest possible lap of a Formula One car . Veh. Syst. Dyn. , 35 : 119 – 134 .
   Web of Science ®Google Scholar
• Casanova , D. , Sharp , R. S. and Symonds , P. On the optimisation of the longitudinal location of the mass centre of a Formula One car for two circuits . Proceedings of the 6th International Symposium on Automotive Control (AVEC 2002) . September 9–13 . pp. 6 Hiroshima : SAE of Japan .
   Google Scholar
• Kelly , D. P. 2008 . Lap Time Simulation with Transient Vehicle and Tyre Dynamics , Cranfield University . Doctoral thesis
   Google Scholar
• Kelly , D. P. and Sharp , R. S. 2010 . Time-optimal control of the race car: A numerical method to emulate the ideal driver . Veh. Syst. Dyn. , 48 : 1461 – 1474 .
   Web of Science ®Google Scholar
• Schlenkrich , S. , Walther , A. and Griewank , A. 2005 . Application of AD-based Quasi-Newton-Methods to Stiff ODEs, in Automatic Differentiation: Applications, Theory, and Implementations , Wien/New York : Springer .
   Google Scholar
• Fevrier , P. and Fandard , G. 2008 . Thermal and mechanical tyre modelling for handling simulation . ATZ , 110 : 422 – 431 .
   Google Scholar
• Durand-Gasselin , B. , Dailliez , T. , Mössner-Beigel , M. , Knorr , S. and Rauh , J. Assessing the thermo-mechanical TaMeTirE model in off-line vehicle simulation and driving simulator tests . Selected and Extended Papers from the 21st Symposium of the International Association for Vehicle System Dynamics . Stockholm, Sweden. Edited by: Berg , M. and Trigell , A. S. Vol. 48 , pp. 211 – 229 . Taylor & . (Supplement to Vehicle System Dynamics)
   Google Scholar
• Guo , K. and Guan , H. 1993 . Modelling of driver/vehicle directional control system . Veh. Syst. Dyn. , 22 : 141 – 184 .
   Web of Science ®Google Scholar
• MacAdam , C. C. 2003 . Understanding and modelling the human driver . Veh. Syst. Dyn. , 40 : 101 – 134 .
   Web of Science ®Google Scholar
• Plöchl , M. and Edelmann , J. 2007 . Driver models in automobile dynamics application . Veh. Syst. Dyn. , 45 : 699 – 741 .
   Web of Science ®Google Scholar
• Popov , A. A. , Rowell , S. and Meijaard , J. P. 2010 . A review on motorcycle and rider modelling for steering control . Veh. Syst. Dyn. , 48 : 775 – 792 .
   Web of Science ®Google Scholar
• Tomizuka , M. and Whitney , D. E. 1976 . The human operator in manual preview tracking (an experiment and its modeling via optimal control) . Trans. ASME, J. Dyn. Syst. Meas. Control , 98 : 407 – 413 .
   Web of Science ®Google Scholar
• Sharp , R. S. The steering responses of doubles . Proceedings of the 6th IAVSD Symposium on The Dynamics of Vehicles on Roads and on Railway Tracks . Edited by: Willumeit , H. P. pp. 469 – 484 . Lisse : Swets and Zeitlinger .
   Google Scholar
• Crolla , D. A. and Sharp , R. S. Stability and steering response problems of trucks towing trailers . Proceedings of the IMechE/MIRA Conference on Road Vehicle Handling . pp. 201 – 210 . London : MEP . ISBN 0 85298 515 0
   Google Scholar
• MacAdam , C. C. 1980 . An optimal preview control for linear systems . Trans. ASME , 102 : 188 – 190 .
   Google Scholar
• MacAdam , C. C. 1981 . Application of an optimal preview control for simulation of closed-loop driving . IEEE Trans. Syst. Man Cybern. , 11 : 393 – 399 .
   Web of Science ®Google Scholar
• Ornstein , G. N. 1963 . The automatic analog determination of human transfer function coefficients . Med. Biol. Eng. , 1 : 377 – 387 .
   Google Scholar
• Phatak , A. and Bekey , G. 1969 . Model of the adaptive behavior of the human operator in response to a sudden change in the control situation . IEEE Trans. Man Mach. Syst. , 10 : 72 – 80 .
   Web of Science ®Google Scholar
• Allen , R. W. , Rosenthal , T. J. and Szostak , H. T. 1988 . Analytical modeling of driver response in crash avoidance maneuvering: Vol. 1: Technical Background , National Highway Traffic Safety Administration, Department of Transportation . NHTSA, DOT HS 807 270
   Google Scholar
• Hess , R. A. and Modjtahedzadeh , A. 1990 . A control theoretic model of driver steering behavior . Proc. IEEE Control Syst. Mag. , 10 : 3 – 8 .
   Google Scholar
• Miall , R. C. , Weir , D. J. , Wolpert , D. M. and Stein , J. F. 1993 . Is the cerebellum a Smith predictor? . J. Motor Behav. , 25 : 203 – 216 .
   PubMed Web of Science ®Google Scholar
• Davidson , P. R. , Jones , R. D. , Sirisena , H. R. and Andreae , J. H. 2000 . Evidence for the formation of internal inverse models in the human motor system . Hum. Mov. Sci. , 19 : 761 – 795 .
   Web of Science ®Google Scholar
• MacAdam , C. C. “ Development of a driver model for near/at-limit vehicle handling ” . UMTRI, 2001 2001-43
   Google Scholar
• Peng , H. and Tomizuka , M. 1993 . Preview control for vehicle lateral guidance in highway automation . Trans. ASME, J. Dyn. Syst. Meas. Control , 115 : 679 – 686 .
   Web of Science ®Google Scholar
• Sharp , R. S. , Casanova , D. and Symonds , P. 2000 . A mathematical model for driver steering control, with design, tuning and performance results . Veh. Syst. Dyn. , 33 : 289 – 326 .
   Web of Science ®Google Scholar
• MacAdam , C. C. and Johnson , G. E. 1996 . Application of elementary neural networks and preview sensors for representing driver steering control behaviour . Veh. Syst. Dyn. , 25 : 3 – 30 .
   Web of Science ®Google Scholar
• Sharp , R. S. and Valtetsiotis , V. Optimal preview car steering control . ICTAM Selected Papers from the 20th International Congress of Theoretical and Applied Mechanics . Edited by: Lugner , P. and Hedrick , K. Vol. 35 , pp. 101 – 117 . Lisse : Swets and Zeitlinger . (Supplement to Vehicle System Dynamics)
   Google Scholar
• Artstein , Z. and Leizarowitz , A. 1985 . Tracking periodic signals with the overtaking criterion . Trans. IEEE J. Autom. Control , 30 : 1123 – 1126 .
   Web of Science ®Google Scholar
• Leizarowitz , A. 1986 . Tracking nonperiodic trajectories with the overtaking criterion . Appl. Math. Optim. , 14 : 155 – 171 .
   Web of Science ®Google Scholar
• Prokop , G. 2001 . Modelling human vehicle driving by model predictive on-line optimisation . . Syst. Dyn. , 35 : 19 – 35 .
   Web of Science ®Google Scholar
• Bernard , J. E. , Segel , L. and Wild , R. E. 1977 . Tire shear force generation during combined steering and braking maneuvers , Warrendale, PA : SAE 770852, SAE International .
   Google Scholar
• Peng , H. Evaluation of driver assistance systems – a human centered approach . Proceedings of the 6th International Symposium on Automotive Control (AVEC 2002) . September 9–13 . pp. 8 Hiroshima : SAE of Japan .
   Google Scholar
• Gerdts , M. 2003 . A moving horizon technique for the simulation of automobile test-drives . Z. Angew. Math. Mech. , 83 : 147 – 162 .
   Web of Science ®Google Scholar
• Sharp , R. S. 2005 . Driver steering control and a new perspective on car handling qualities . Proc. IMechE, J. Mech. Eng. Sci. , 219 : 1041 – 1051 .
   Web of Science ®Google Scholar
• Ungoren , A. Y. and Peng , H. 2005 . An adaptive lateral preview driver model . Veh. Syst. Dyn. , 43 : 245 – 259 .
   Web of Science ®Google Scholar
• Cole , D. J. , Pick , A. J. and Odhams , A. M.C. 2006 . Predictive and linear quadratic methods for potential application to modelling driver steering control . . Syst. Dyn. , 44 : 259 – 284 .
   Web of Science ®Google Scholar
• Keen , S. D. and Cole , D. J. Steering control using model predictive control and multiple internal models . Proceedings of the 8th International Symposium on Automotive Control (AVEC 2006) . August 20–24 . pp. 599 – 604 . SAE of Japan .
   Google Scholar
• Sharp , R. S. Optimal linear time-invariant preview steering control for motorcycles . The Dynamics of Vehicles on Roads and on Railway Tracks . Milan, Italy. Edited by: Bruni , S. and Mastinu , G. Vol. 44 , pp. 29 – 340 . Taylor & . (Supplement to Vehicle System Dynamics)
   Google Scholar
• Sharp , R. S. 2007 . Motorcycle steering control by road preview . Trans. ASME, J. Dyn. Syst. Meas. Control , 129 : 373 – 381 .
   Web of Science ®Google Scholar
• Sharp , R. S. 2007 . Optimal stabilisation and path-following controls for a bicycle . Proc. IMechE C, J. Mech. Eng. Sci. , 221 : 415 – 428 .
   Web of Science ®Google Scholar
• Sharp , R. S. 2008 . On the stability and control of the bicycle . Trans. ASME, Appl. Mech. Rev. , 61 : 060803
   Web of Science ®Google Scholar
• Sharp , R. S. 2007 . Optimal preview speed-tracking control for motorcycles . Multibody Syst. Dyn. , 18 : 397 – 411 .
   Web of Science ®Google Scholar
• Sharp , R. S. 2007 . Application of optimal preview control to speed tracking of road vehicles . Proc. IMechE C, J. Mech. Eng. Sci. , 221 : 1571 – 1578 .
   Web of Science ®Google Scholar
• Rowell , S. , Popov , A. A. and Meijaard , J. P. 2008 . Application of predictive control strategies to the motorcycle riding task , 46 : 805 – 814 . (Supplement to Vehicle System Dynamics)
   Google Scholar
• Rowell , S. 2010 . Optimal control to modelling motorcycle rider steering: Local versus global coordinate systems in rider preview . . Syst. Dyn. , 48 : 429 – 456 .
   Web of Science ®Google Scholar
• Falcone , P. , Borrelli , F. , Asgari , J. , Tseng , H. E. and Hrovat , D. 2007 . Predictive active steering control for autonomous vehicle systems . IEEE Trans. Control Syst. Technol. , 15 : 566 – 580 .
   Web of Science ®Google Scholar
• Falcone , P. 2008 . Linear time-varying model predictive control and its application to active steering systems: Stability analysis and experimental validation . Int. J. Robust Nonlinear Control , 18 : 862 – 875 .
   Web of Science ®Google Scholar
• Pick , A. J. and Cole , D. J. 2008 . A mathematical model of driver steering control including neuromuscular dynamics . Trans. ASME, J. Dyn. Syst. Meas. Control , 130 ( 3 ) : 031004
   Web of Science ®Google Scholar
• Pick , A. J. and Cole , D. J. 2009 . Application of linear preview control to modelling human steering control . Proc. IMechE. D, J. Automob. Eng. , 223 : 835 – 853 .
   Web of Science ®Google Scholar
• Roy , R. , Micheau , P. and Bourassa , P. 2009 . Intermittent predictive steering control as an automobile driver model . Trans. ASME, J. Dyn. Syst. Meas. Control , 131 ( 1 ) : 014501
   Web of Science ®Google Scholar
• Thommyppillai , M. , Evangelou , S. and Sharp , R. S. 2009 . Car driving at the limit by adaptive linear optimal preview control . . Syst. Dyn. , 47 : 1535 – 1550 .
   Web of Science ®Google Scholar
• Thommyppillai , M. , Evangelou , S. and Sharp , R. S. 2010 . Rear-heavy car control by adaptive linear optimal preview control . . Syst. Dyn. , 48 : 645 – 658 .
   Web of Science ®Google Scholar
• Thommyppillai , M. , Evangelou , S. and Sharp , R. S. Towards a practical virtual racing-car driver . Proceedings of the European Control Conference . August 23–26 , Budapest, Hungary. pp. 6
   Google Scholar
• Thommyppillai , M. , Evangelou , S. and Sharp , R. S. 2009 . Advances in the development of a virtual car driver . Multibody Syst. Dyn. , 22 : 245 – 267 .
   Web of Science ®Google Scholar
• Sharp , R. S. , Thommyppillai , M. and Evangelou , S. A. Towards a model of a high-performance driver for circuit-racing cars . Proceedings of the International Symposium on Automotive Control (AVEC 2010) . August 23–26 . pp. 713 – 718 . SAE of Japan .
   Google Scholar
• Sharp , R. S. 2010 . Application of linear optimal preview control theory to severe braking of a car, . Proc. IMechE, J. Mech. Eng. Sci. , 226 : 1 – 15 .
   Google Scholar
• Sharp , R. S. 2010 . On the stability and control of unicycles . Proc. R. Soc., Ser. , A 466 : 1849 – 1869 .
   Web of Science ®Google Scholar
• Keen , S. D. and Cole , D. J. 2011 . Application of time-variant predictive control to modelling driver steering skill . Veh. Syst. Dyn. , 49 ( 4 ) : 527 – 559 .
   Web of Science ®Google Scholar
• Sharp , R. S. 2011 . Rider control of a motorcycle near to its cornering limits . Veh. Syst. Dyn. , in review
   Web of Science ®Google Scholar