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dc.contributor.authorPirani, Mohammad
dc.contributor.authorKhajepour, Amir
dc.contributor.authorKasaiezadeh Mahabadi, Seyed Alireza
dc.contributor.authorHashemi, Ehsan 18:37:49 (GMT) 18:37:49 (GMT)
dc.descriptionThis is an Accepted Manuscript of an article published by Taylor & Francis in Vehicle System Dynamics on September 28 2016, available online:
dc.description.abstractIn this paper, a vehicle's lateral dynamic model is developed based on the pure and the combined-slip LuGre tyre models. Conventional vehicle's lateral dynamic methods derive handling models utilising linear tyres and pure-slip assumptions. The current article proposes a general lateral dynamic model, which takes the linear and nonlinear behaviours of the tyre into account using the pure and combined-slip assumptions separately. The developed methodology also incorporates various normal loads at each corner and provides a proper tyre–vehicle platform for control and estimation applications. Steady-state and transient LuGre models are also used in the model development and their responses are compared in different driving scenarios. Considering the fact that the vehicle dynamics is time-varying, the stability of the suggested time-varying model is investigated using an affine quadratic stability approach, and a novel approach to define the critical longitudinal speed is suggested and compared with that of conventional lateral stability methods. Simulations have been conducted and the results are used to validate the proposed method.en
dc.publisherTaylor & Francisen
dc.subjectStability analysisen
dc.subjectSteady-state behaviouren
dc.subjectModels < Tyre dynamicsen
dc.titleA comprehensive study on the stability analysis of vehicle dynamics with pure/combined-slip tyre modelsen
dcterms.bibliographicCitationHashemi, E., Pirani, M., Khajepour, A., & Kasaiezadeh, A. (2016). A comprehensive study on the stability analysis of vehicle dynamics with pure/combined-slip tyre models. Vehicle System Dynamics, 54(12), 1736–1761.
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Mechanical and Mechatronics Engineeringen

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