Vehicle Dynamics and Control
Vehicle Dynamics and Control
Frederick F. Ling
Editor-in-Chief
Mechanical Engineering Series
P. Basu, C. Kefa, and L. Jestin, Boilers and Burners: Design and Theory
K.K. Choi and N.H. Kim, Structural Sensitivity Analysis and Optimization 1:
Linear Systems
K.K. Choi and N.H. Kim, Structural Sensitivity Analysis and Optimization 2:
Nonlinear Systems and Applications
a- Springer
Rajesh Rajamani
University of Minnesota, USA
Editor-in-Chief
Frederick F. Ling
Earnest F. Gloyna Regents Chair Emeritus in Engineering
Department of Mechanical Engineering
The University of Texas at Austin
Austin, TX 78712-1063, USA
and
Distinguished William Howard Hart
Professor Emeritus
Department of Mechanical Engineering,
Aeronautical Engineering and Mechanics
Rensselaer Polytechnic Institute
Troy, NY 12180-3590, USA
SPIN 11012085
For Priya
Mechanical Engineering Series
Frederick F. Ling
Editor-in-Chief
The Mechanical Engineering Series features graduate texts and research monographs to
address the need for information in contemporary mechanical engineering, including
areas of concentration of applied mechanics, biomechanics, computational mechanics,
dynamical systems and control, energetics, mechanics of materials, processing, produc-
tion systems, thermal science, and tribology.
the automotive industry and at universities. The book can also serve as a
textbook for a graduate level course on Vehicle Dynamics and Control.
An up-to-date errata for typographic and other errors found in the book
after it has been published will be maintained at the following web-site:
http://www.menet.umn.edu/-raiamani/vdc.html
I will be grateful for reports of such errors from readers.
Rajesh Rajamani
Minneapolis, Minnesota
May 2005
Contents
...
Dedication v111
Preface xix
ix
Acknowledgments xxi
xxv
1. INTRODUCTION 1
References 11
Nomenclature 47
References 48
Nomenclature 90
References 92
Nomenclature 120
References 122
Nomenclature 149
References 150
Nomenclature 180
References 181
xvi VEHICLE DYNAMICS AND CONTROL
Nomenclature 215
References 216
8.1 Introduction 22 1
8.2.5 Upper bounded values of target yaw rate and slip angle 233
Nomeclature 252
References 255
Nomenclature
References
10.4 Natural Frequencies and Mode Shapes for the Quarter Car
Nomenclature
References
xx VEHICLE DYNAMICS AND CONTROL
Problem 34 1
Nomenclature 353
References 354
Nomenclature
References
Force Distribution
xxii VEHICLE DYNAMICS AND CONTROL
Nomenclature 430
References 432
and braking
levels
Nomenclature
References
Index
Acknowledgments
Rajesh Rajamani
Minneapolis, Minnesota
May 2005