https://m2.mtmt.hu/ eng 2026-05-25 07:39 JournalArticle 35138909 APPROVED true Received 27 Oct 2023, Accepted 22 Jun 2024, Published online: 06 Jul 2024 0 false 2026-05-24T00:35:54.772+0000 2025-07-30T14:59:14.922+0000 2024-07-19T06:04:58.867+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin Katalin Andódy (BME admin4) true 2025-07-30T14:59:15.062+0000 2025-07-30T14:59:15.062+0000 true false true 24 24 /api/publicationtype/24 PublicationType Journal Article 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType Journal Article 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType Article (Journal Article) 101 true 10000059 true 1 /api/category/1 Category Scientific true 1 Mihályi, Levente true true /api/journal/4368 REVIEWED VEHICLE SYSTEM DYNAMICS 0042-3114 1744-5159 true false 4368 false 4368 true 0042-3114 1744-5159 Journal FOREIGN 63 8 1523 1542 1523 20 2025 Stability analysis of the low-speed reverse motion along clothoid curve is presented for the truck–semitrailer combination. The single-track kinematic model supplemented with the steering system and the lower-level controller is applied. A higher-level controller is designed to stabilise the reverse motion of the vehicle. Linear state feedback with time delay is used with feedforward term to force the vehicle to the desired path. The linear stability analysis is done by semi-discretization and D-subdivision methods to determine the optimal control gain setup. The effects of path curvature and time delay on the stability are investigated and verified via numerical simulations. Results are validated via experiments using a small-scale test rig. © 2024 Informa UK Limited, trading as Taylor & Francis Group. true 2024 true true true false true false GREEN 2026-05-24 true http://real.mtak.hu/205132 2 0 2 2 1 2 2 2 1 2 2 2 2 2 0 0 2 2 2 2 0 3 3 Folyóiratcikk Journal Article 24 2 Könyvrészlet Chapter in Book 25 0 Könyv Book 23 0 Egyéb konferenciaközlemény Conference paper 31 0 Egyéb konferenciakötet Conference proceedings 32 0 Oltalmi formák Protection forms 26 0 Disszertáció Thesis 28 0 Egyéb Miscellaneous 29 0 Alkotás Achievement 22 0 Kutatási adat Research data 33 0 Folyóiratcikk Journal Article 24 0 0 0 Könyvrészlet Chapter in Book 25 0 0 0 Könyv Book 23 0 0 0 Egyéb konferenciaközlemény Conference paper 31 0 0 0 Egyéb konferenciakötet Conference proceedings 32 0 0 0 Oltalmi formák Protection forms 26 0 0 0 Disszertáció Thesis 28 0 0 0 Egyéb Miscellaneous 29 0 0 0 Alkotás Achievement 22 0 0 0 Kutatási adat Research data 33 0 0 0 2025 0 2 2 2 2 D1 false 10019718 false false false 2024-10-17T08:27:19.917+0000 HUN-REN-BME Gépek Dinamikája Kutatócsoport (BME / GPK / MM); Műszaki Mechanikai Tanszék (BME / GPK) 2 6 2 2 0 true Language 10002 /api/language/10002 English Angol English true 2 true PersonAuthorship 118347174 /api/authorship/118347174 Mihályi, Levente ✉ [Mihályi, Levente (Műszaki mechanika), author] Department of Applied Mechanics (BUTE / FME) 1 0.5 true false true Author 10082469 /api/author/10082469 Levente Mihályi (Műszaki mechanika) Mihályi Levente true true Mihályi Levente true false false AuthorshipType 1 /api/authorshiptype/1 Author 0 true 0 true false true PersonAuthorship 118347175 /api/authorship/118347175 Takács, Dénes [Takács, Dénes (Műszaki mechanika), author] Department of Applied Mechanics (BUTE / FME); HUN-REN-BME Machine Dynamics Research Group (BUTE / FME / DAM) 2 0.5 false true false Author 10019718 /api/author/10019718 Dénes Takács (Műszaki mechanika) Takács Dénes true 10019718 true Takács Dénes true false false AuthorshipType 1 /api/authorshiptype/1 Author 0 true 0 true false true PublicationIdentifier 26847137 /api/publicationidentifier/26847137 DOI: 10.1080/00423114.2024.2374443 PlainSource 6 /api/publicationsource/6 DOI PublicationSourceType 10001 /api/publicationsourcetype/10001 DOI true true true DOI DOI https://doi.org/@@@ true true 6 true IDENTICAL 10.1080/00423114.2024.2374443 https://doi.org/10.1080/00423114.2024.2374443 false true PublicationIdentifier 26847138 /api/publicationidentifier/26847138 WoS: 001263579100001 PlainSource 1 /api/publicationsource/1 WoS PublicationSourceType 10003 /api/publicationsourcetype/10003 Indexelő adatbázis false true true WoS WoS https://www.webofscience.com/wos/woscc/full-record/@@@ true true 1 true IDENTICAL 001263579100001 https://www.webofscience.com/wos/woscc/full-record/001263579100001 false true PublicationIdentifier 27298778 /api/publicationidentifier/27298778 REAL: 205132 SwordSource 36 /api/publicationsource/36 REAL PublicationSourceType 10007 /api/publicationsourcetype/10007 Repozitórium true true true REAL REAL http://real.mtak.hu/@@@ true true 36 true GREEN true 205132 http://real.mtak.hu/205132 false true PublicationIdentifier 26847136 /api/publicationidentifier/26847136 Scopus: 85197735120 PlainSource 3 /api/publicationsource/3 Scopus PublicationSourceType 10003 /api/publicationsourcetype/10003 Indexelő adatbázis false true true Scopus Scopus http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-@@@ true true 3 true IDENTICAL 85197735120 http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85197735120 false true PublicationIdentifier 26278273 /api/publicationidentifier/26278273 Other URL: https://phd.gpk.bme.hu/pub/s/j4368/l9/t3?3002357 PlainSource 40 /api/publicationsource/40 Other URL PublicationSourceType 10006 /api/publicationsourcetype/10006 Link true true true Egyéb URL Other URL @@@ true true 40 true https://phd.gpk.bme.hu/pub/s/j4368/l9/t3?3002357 https://phd.gpk.bme.hu/pub/s/j4368/l9/t3?3002357 false true Classification 10807 /api/classification/10807 ENGINEERING AND TECHNOLOGY true true Keyword 6289 /api/keyword/6289 KINEMATICS true 6289 true Keyword 12458 /api/keyword/12458 CONTROLLERS true 12458 true Keyword 12503 /api/keyword/12503 STABILITY ANALYSIS true 12503 true Keyword 1013449 /api/keyword/1013449 feedback delay true 1013449 true Keyword 1032470 /api/keyword/1032470 State feedback true 1032470 true Keyword 1032504 /api/keyword/1032504 Time delay true 1032504 true Keyword 1032504 /api/keyword/1032504 Time delay true 1032504 true Keyword 1109201 /api/keyword/1109201 Experimental validations true 1109201 true Keyword 1154620 /api/keyword/1154620 EXPERIMENTAL VALIDATION true 1154620 true Keyword 1409296 /api/keyword/1409296 Automobile steering equipment true 1409296 true Keyword 1486332 /api/keyword/1486332 TIME-DELAYS true 1486332 true Keyword 1577875 /api/keyword/1577875 trucks true true Keyword 1681263 /api/keyword/1681263 Reversing true true Keyword 1681263 /api/keyword/1681263 Reversing true true Keyword 1725627 /api/keyword/1725627 Low speed true true Keyword 1727134 /api/keyword/1727134 Timing circuits true true Keyword 2614951 /api/keyword/2614951 Stability analyze true true Keyword 3490679 /api/keyword/3490679 clothoid true true Keyword 3490680 /api/keyword/3490680 Truck–semitrailer true true Keyword 3490680 /api/keyword/3490680 Truck–semitrailer true true Keyword 3490681 /api/keyword/3490681 Clothoid curves true true Keyword 3490682 /api/keyword/3490682 Clothoids true true Keyword 3490683 /api/keyword/3490683 Path curvature true true SjrRating 11559641 /api/sjrrating/11559641 sjr:D1 (2025) Scopus - Automotive Engineering VEHICLE SYSTEM DYNAMICS 0042-3114 1744-5159 12 0.1 journal RatingType 10002 /api/ratingtype/10002 sjr sjr true true ClassificationExternal 2203 /api/classificationexternal/2203 Scopus - Automotive Engineering true 2203 true D1 DIRECT true true Reference 55855623 /api/reference/55855623 1. 2019. p. 2509–2514. 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The effect of path curvature on the stability of reversing truck–semitrailer in the presence of feedback delay. (2025) VEHICLE SYSTEM DYNAMICS 0042-3114 1744-5159 63 8 1523-1542<div class="JournalArticle Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <img title="Idézőközlemény" style="float: left" src="/frontend/resources/grid/publication-citation-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10082469"><a href="/gui2/?type=authors&mode=browse&sel=10082469" target="_blank">Mihályi Levente ✉ (<span class="authorship-author-name">Mihályi Levente</span> <span class="authorAux-mtmt"> Műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Mechanical Engineering">FME</span>/Department of Applied Mechanics</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10019718"><a href="/gui2/?type=authors&mode=browse&sel=10019718" target="_blank">Takács Dénes (<span class="authorship-author-name">Takács Dénes</span> <span class="authorAux-mtmt"> Műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Mechanical Engineering">FME</span>/Department of Applied Mechanics; <span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Mechanical Engineering">FME</span>/<span title="Department of Applied Mechanics">DAM</span>/HUN-REN-BME Machine Dynamics Research Group</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;35138909" target="_blank">The effect of path curvature on the stability of reversing truck–semitrailer in the presence of feedback delay</a></div> <div> <span class="journal-title">VEHICLE SYSTEM DYNAMICS</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/0042-3114">0042-3114</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/1744-5159">1744-5159</a>)</span>: <span class="journal-volume">63</span> <span class="journal-issue">8</span> <span class="page"> pp 1523-1542 </span> <span class="year">(2025)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Language: English | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1080/00423114.2024.2374443" target="_blank" href="https://doi.org/10.1080/00423114.2024.2374443"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="001263579100001" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/001263579100001"> WoS </a> </span> <span class="id identifier oa_GREEN" title=" Green "> <a style="color:black" title="205132" target="_blank" href="http://real.mtak.hu/205132"> REAL </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="85197735120" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85197735120"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="https://phd.gpk.bme.hu/pub/s/j4368/l9/t3?3002357" target="_blank" href="https://phd.gpk.bme.hu/pub/s/j4368/l9/t3?3002357"> Other URL </a> </span> </span> <OnlyViewableByAuthor><div class="ratings"> <div class="journal-subject">Journal subject: Scopus - Automotive Engineering&nbsp;&nbsp;&nbsp;Rank:&nbsp;D1</div> <div class="journal-subject">Journal subject: Scopus - Mechanical Engineering&nbsp;&nbsp;&nbsp;Rank:&nbsp;D1</div> <div class="journal-subject">Journal subject: Scopus - Safety, Risk, Reliability and Quality&nbsp;&nbsp;&nbsp;Rank:&nbsp;D1</div> </div></OnlyViewableByAuthor> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="" class="citingPub-count">Citing papers: 2</span> | Independent citation: 2 | Self citation: 0 | Unknown citation: 0 | Number of citations in WoS: 2 | Number of citations in Scopus:&nbsp;1 | WoS/Scopus assigned:&nbsp;2 | Number of citations with DOI:&nbsp;2 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;35138909&sort=publishedYear,desc&sort=title"> Number of cited publications: 3 </a> </div> <div class="mtid"><span class="long-pub-mtid">Publication: 35138909</span> | <span class="status-data status-APPROVED"> Published </span> Core Citing | <span class="type-subtype">Journal Article ( Article ) </span> | <span class="pub-category">Scientific</span> | <span class="publication-sourceOfData">Scopus</span> </div> <div class="lastModified">Last Modified: 2025.07.30. 16:59 Erika Szatmári (BME admin4) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Comments</u>: Received 27 Oct 2023, Accepted 22 Jun 2024, Published online: 06 Jul 2024</pre> </div></div>