Model Predictive Control for Vehicle Stabilization at the Limits of Handling

Recent developments in vehicle steering systems offer new opportunities to measure the steering torque and reliably estimate the vehicle sideslip and the tire-road friction coefficient. This paper presents an approach to vehicle stabilization that leverages these estimates to define state boundaries that exclude unstable vehicle dynamics and utilizes a model predictive envelope controller to bound the vehicle motion within this stable region of the state space. This approach provides a large operating region accessible by the driver and smooth interventions at the stability boundaries. Experimental results obtained with a steer-by-wire vehicle and a proof of envelope invariance demonstrate the efficacy of the envelope controller in controlling the vehicle at the limits of handling.

Biaxial extensional motion of an inertially driven radially expanding liquid sheet

We consider the inertially driven, time-dependent biaxial extensional motion of inviscid and viscous thinning liquid sheets. We present an analytic solution describing the base flow and examine its linear stability to varicose (symmetric) perturbations within the framework of a long-wave model where transient growth and long-time asymptotic stability are considered. The stability of the system is characterized in terms of the perturbation wavenumber, Weber number, and Reynolds number. We find that the isotropic nature of the base flow yields stability results that are identical for axisymmetric and general two-dimensional perturbations. Transient growth of short-wave perturbations at early to moderate times can have significant and lasting influence on the long-time sheet thickness. For finite Reynolds numbers, a radially expanding sheet is weakly unstable with bounded growth of all perturbations, whereas in the inviscid and Stokes flow limits sheets are unstable to perturbations in the short-wave limit.