For the comfort of the driver and passengers, the output constraint for the yaw acceleration is chosen as 0.4g/[l.sub.c]; that is,
Figure 8 shows the vehicle's yaw acceleration at [mu] = 0.8 and an entry speed of 20km/hr.
is added mass of platform in the surge due to a unit yaw acceleration
where m is the total mass of the vehicle, the lengths a and b are defined as shown in Figure 1(a), [a.sub.y] is the lateral acceleration, [[??].sub.r] is the yaw acceleration
, and [I.sub.z] is the yaw moment of the vehicle inertia.
There was a significant reduction in average yaw acceleration
in the 250-ms delay condition as compared with the 125-ms delay condition.
"During this period of intense mental activity the commander did not detect changes to the aircraft's motion and in particular the yaw acceleration
(swinging from side to side)."
''During this period of intense mental activity, the commander did not detect changes to the aircraft's motion and in particular the yaw acceleration
caii be determined from the lateral acceleration measurements.
Furthermore, this strategy is based on yaw acceleration
detection and electromagnetic proportional control technology to realize the additional yaw moment compensation because of its good cost performance and adaptability for hydraulic control system.