Nonlinear dynamics and stability analysis of vehicle plane motions

Shuiwen Shen*, Jun Wang, Peng Shi, Giuliano Premier

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review


    In this article, the problems of dynamics and stability for vehicle planar motion systems have been investigated. By introducing a so-called joint-point locus approach, equilibria of the system and their associated stability properties are given geometrically. With this method, it is discovered that the difference between the front and the rear steering angles plays a key role in vehicle system dynamics and that the topological structure of the phase portrait and the types of bifurcations are different from those published previously. In particular, the vehicle system could still be stabilized even when pushed to work in a certain severely nonlinear region, by applying extremely large steering angles. However, it is worth noticing that the attractive domain of the stable equilibrium is very narrow. These developments might prove to be important in active steering control design. Numerical experiments are carried out to illustrate the potentials of the proposed techniques.

    Original languageEnglish
    Pages (from-to)15-35
    Number of pages21
    JournalVehicle System Dynamics
    Issue number1
    Publication statusPublished - 1 Jan 2007


    • Active steering control
    • Bifurcation
    • Joint-point locus method
    • Nonlinear system dynamics


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