Antisideslip and Antirollover Safety Speed Controller Design for Vehicle on Curved Road

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="253176.fig.006a" src="https://static-preview.hindawi.com/articles/mpe/volume-2014/253176/figures/253176.fig.006a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Control input of linear velocity <svg height="11.925" id="M199" style="vertical-align:-3.39066pt" version="1.1" viewbox="0 0 12.9375 11.925" width="12.9375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.638)"><path d="M457 332q0 -81 -41 -161.5t-105.5 -131.5t-129.5 -51q-46 0 -79 30.5t-33 86.5q0 18 7 51q18 95 46 187q6 19 6 33q0 7 -7 7q-24 0 -78 -64l-20 23q32 48 73 77t78 29q33 0 33 -46q0 -38 -10 -70q-28 -92 -39 -152q-7 -38 -7 -57q0 -78 69 -78q68 0 118 75.5t50 194.5
q0 43 -12 57q-11 12 -11 24q0 19 15 35.5t34 16.5q18 0 30.5 -34.5t12.5 -81.5z" id="x1D463"></path></g>
<g transform="matrix(.012,-0,0,-.012,7.425,11.725)"><path d="M383 397q0 -32 -35 -49q-12 -6 -23 8q-37 45 -84 45t-90 -71q-40 -65 -40 -167q0 -57 22 -86t59 -29q38 0 81.5 24.5t69.5 51.5l16 -21q-44 -53 -104 -84t-109 -31q-56 0 -89.5 41t-33.5 117q0 61 30 124t79 105q33 28 81 50.5t86 22.5q34 0 59 -15.5t25 -35.5z" id="x1D450"></path></g>
</svg></td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="253176.fig.006b" src="https://static-preview.hindawi.com/articles/mpe/volume-2014/253176/figures/253176.fig.006b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Control input of angular velocity <svg height="12.0625" id="M200" style="vertical-align:-3.39066pt" version="1.1" viewbox="0 0 16.424999 12.0625" width="16.424999" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.775)"><path d="M615 290q0 -148 -114 -245q-65 -57 -125 -57q-39 0 -62 27t-29 70q-31 -41 -72 -69t-74 -28q-49 0 -82.5 43t-33.5 124q0 97 55 174.5t148 124.5l15 -24q-59 -45 -94 -113t-35 -146q0 -58 19.5 -88.5t48.5 -30.5q33 0 62 34.5t45 101.5q16 73 20 135l80 17l5 -6
q-11 -37 -23.5 -100t-12.5 -92q0 -47 16.5 -71.5t44.5 -24.5q62 0 95.5 67t33.5 160q0 107 -63 152l1 9q14 14 45 14q29 0 57.5 -44t28.5 -114z" id="x1D714"></path></g>
<g transform="matrix(.012,-0,0,-.012,10.912,11.863)"><path d="M383 397q0 -32 -35 -49q-12 -6 -23 8q-37 45 -84 45t-90 -71q-40 -65 -40 -167q0 -57 22 -86t59 -29q38 0 81.5 24.5t69.5 51.5l16 -21q-44 -53 -104 -84t-109 -31q-56 0 -89.5 41t-33.5 117q0 61 30 124t79 105q33 28 81 50.5t86 22.5q34 0 59 -15.5t25 -35.5z" id="x1D450"></path></g>
</svg></td></tr></table></td></tr></table>

<table>Control inputs curves with different <svg height="12.325" id="M198" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 10.0125 12.325" width="10.0125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.825)"><path d="M559 271q0 -109 -83 -187t-189 -89l-36 -213q-16 -30 -86 -43l-7 9q10 36 53 242q-91 11 -139.5 63.5t-48.5 132.5q0 186 242 271l11 -28q-76 -34 -119.5 -91.5t-43.5 -136.5q0 -66 29 -108.5t77 -55.5q39 205 56 260q21 71 65 111t93 40q50 0 88 -45.5t38 -131.5z
M484 273q0 65 -26.5 99t-52.5 34q-37 0 -53 -75l-59 -298q80 5 135.5 74.5t55.5 165.5z" id="x1D711"></path></g>
</svg>.</table>

Mathematical Problems in Engineering

fig6

Figure 6

Figure 6: Antisideslip and Antirollover Safety Speed Controller Design for Vehicle on Curved Road 