@article{MTMT:35138909,
	title = {The effect of path curvature on the stability of reversing truck–semitrailer in the presence of feedback delay},
	url = {https://m2.mtmt.hu/api/publication/35138909},
	author = {Mihályi, Levente and Takács, Dénes},
	doi = {10.1080/00423114.2024.2374443},
	journal-iso = {VEHICLE SYST DYN},
	journal = {VEHICLE SYSTEM DYNAMICS},
	volume = {63},
	unique-id = {35138909},
	issn = {0042-3114},
	abstract = {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.},
	keywords = {KINEMATICS; CONTROLLERS; STABILITY ANALYSIS; feedback delay; State feedback; Time delay; Time delay; Experimental validations; EXPERIMENTAL VALIDATION; Automobile steering equipment; TIME-DELAYS; trucks; Reversing; Reversing; Low speed; Timing circuits; Stability analyze; clothoid; Truck–semitrailer; Truck–semitrailer; Clothoid curves; Clothoids; Path curvature},
	year = {2025},
	eissn = {1744-5159},
	pages = {1523-1542},
	orcid-numbers = {Takács, Dénes/0000-0003-1226-8613}
}

@{MTMT:36387803,
	title = {EFFECTS OF STEERING ANGLE SATURATION ON STABILITY OF REVERSING TRAILERS},
	url = {https://m2.mtmt.hu/api/publication/36387803},
	author = {Mihályi, Levente and Takács, Dénes},
	booktitle = {41st Danubia-Adria Symposium Advances in Experimental Mechanics},
	doi = {10.46793/41DAS2025.037M},
	unique-id = {36387803},
	abstract = {Driver assistance systems are now a standard feature in modern passenger vehicles, primarily for improving safety and reducing fuel consumption. Extending these systems to freight transport is essential, particularly when addressing one of the most challenging maneuvers, the reversing. Reversing a long, articulated truck–semitrailer combination is inherently unstable, and requires active control to ensure safe maneuvering.The effect of steering angle saturation changes the dynamical properties of a truck–semitrailer combination. In this study, we examine the dynamics of a truck–semitrailer reversing maneuver and analyze how steering angle saturation affects the stability of the autonomous feature proposed for reversing a truck–semitrailer.},
	year = {2025},
	pages = {37-38},
	orcid-numbers = {Takács, Dénes/0000-0003-1226-8613}
}

@inproceedings{MTMT:34224098,
	title = {Reversing Along a Curved Path by an Autonomous Truck–Semitrailer Combination},
	url = {https://m2.mtmt.hu/api/publication/34224098},
	author = {Mihályi, Levente and Takács, Dénes},
	booktitle = {Advances in Nonlinear Dynamics, Volume II},
	doi = {10.1007/978-3-031-50639-0_10},
	unique-id = {34224098},
	year = {2024},
	pages = {105-115},
	orcid-numbers = {Mihályi, Levente/0009-0007-5901-0624; Takács, Dénes/0000-0003-1226-8613}
}

@article{MTMT:35490175,
	title = {Investigating Reversing Motion of Truck-Semitrailer Along Clothoid Curve},
	url = {https://m2.mtmt.hu/api/publication/35490175},
	author = {Mihályi, Levente and Takács, Dénes},
	doi = {10.1007/978-3-031-70392-8_97},
	journal-iso = {LECT NOTES MECHAN ENG},
	journal = {LECTURE NOTES IN MECHANICAL ENGINEERING},
	volume = {16th International Symposium on Advanced Vehicle Control},
	unique-id = {35490175},
	issn = {2195-4356},
	abstract = {The focus of the research is on the most common transport vehicle, the truck-semitrailer combination. A single-track kinematic model is used, supplemented by the dynamics of the steering system, to design a linear state feedback controller for the low-speed path-following problem in reverse. Despite the significant time delay considered in our study, the linear stability of the system is ensured, even for complicated maneuvers. The advantages of the adaptive gain tuning method are presented based on simulations of the commonly used 90-degree alley dock. © The Author(s) 2024.},
	keywords = {Feedback control; Linear systems; State feedback; Time delay; Automobiles; Magnetic levitation vehicles; Steering; TIME-DELAYS; Transport vehicles; trucks; Maneuverability; path following; Path-following; Steering systems; Single-tracks; Truck–semitrailer; Truck–semitrailer; Clothoid curves; Linear state feedback; Truck transportation; Kinematics models; reverse maneuvering; reverse maneuvering},
	year = {2024},
	eissn = {2195-4364},
	pages = {686-692},
	orcid-numbers = {Takács, Dénes/0000-0003-1226-8613}
}

@CONFERENCE{MTMT:35671968,
	title = {Effect of Time Delay on the Stability of Reversing Semitrailer},
	url = {https://m2.mtmt.hu/api/publication/35671968},
	author = {Mihályi, Levente and Takács, Dénes},
	booktitle = {18th IFAC TDS - Time Delay Systems - Program & Book of abstracts},
	unique-id = {35671968},
	year = {2024},
	orcid-numbers = {Takács, Dénes/0000-0003-1226-8613}
}

@article{MTMT:35803516,
	title = {Experimental Model Identification of the Longitudinal Dynamics of an Electric Unicycle with a Human Rider},
	url = {https://m2.mtmt.hu/api/publication/35803516},
	author = {Mihályi, Levente and Ji, Xunbi A. and Orosz, Gábor and Takács, Dénes},
	doi = {10.1016/j.ifacol.2024.12.036},
	journal-iso = {IFACOL},
	journal = {IFAC PAPERSONLINE},
	volume = {58},
	unique-id = {35803516},
	issn = {2405-8971},
	abstract = {A model for the longitudinal and pitch dynamics of an electric unicycle (EUC) ridden by a human is derived while considering the independent pitch movements of the EUC body and that of the rider. Experimental data is collected for multiple maneuvers through a high-precision motion capture system and the processed data is used for parameter identification. It is demonstrated that the longitudinal and pitch dynamics are well captured by the model even for maneuvers which involve lateral motion. © 2024 The Authors.},
	keywords = {human; human; parameter identification; digital elevation model; Model identification; System models; System modeling; Motion capture; Motion capture; Motion capture; longitudinal dynamics; Parameters identification; experimental modelling; Vehicle interactions; Vehicle interaction; Electric unicycle; Electric unicycle; Pitch dynamics},
	year = {2024},
	eissn = {2405-8963},
	pages = {210-215},
	orcid-numbers = {Takács, Dénes/0000-0003-1226-8613}
}

@article{MTMT:33761882,
	title = {Linear Stability of Reversing a Car-trailer Combination},
	url = {https://m2.mtmt.hu/api/publication/33761882},
	author = {Mihályi, Levente and Takács, Dénes},
	doi = {10.3311/PPme.18971},
	journal-iso = {PERIOD POLYTECH MECH ENG},
	journal = {PERIODICA POLYTECHNICA-MECHANICAL ENGINEERING},
	volume = {67},
	unique-id = {33761882},
	issn = {0324-6051},
	abstract = {In this paper, we investigate the reverse motion of a car-trailer combination. The single track model of the vehicle is used with quasi-static tire model to design a simple linear feedback controller that can achieve stable reversing motion along a straight path. The linear stability of the closed-loop system is analyzed by constructing stability charts in the plane of the control gains. The effect of the reversing speed of the vehicle on the stability is also shown. In order to validate the theoretical results, laboratory experiments are carried out using a small-scale vehicle and a conveyor belt.},
	year = {2023},
	eissn = {1587-379X},
	pages = {87-93},
	orcid-numbers = {Takács, Dénes/0000-0003-1226-8613}
}

@CONFERENCE{MTMT:34123223,
	title = {Nyerges vontató pályakövető tolatása körív mentén},
	url = {https://m2.mtmt.hu/api/publication/34123223},
	author = {Mihályi, Levente and Takács, Dénes},
	booktitle = {XIV. Magyar Mechanikai Konferencia, Az előadások összefoglalói},
	unique-id = {34123223},
	year = {2023},
	pages = {1-2},
	orcid-numbers = {Takács, Dénes/0000-0003-1226-8613}
}

@CONFERENCE{MTMT:34175890,
	title = {Small-Scale Experiments on Reversing Semitrailers},
	url = {https://m2.mtmt.hu/api/publication/34175890},
	author = {Mihályi, Levente and Takács, Dénes},
	booktitle = {Book of Abstracts. 39th Danubia-Adria Symposium on Advances in Experimental Mechanics. 2023 Hungary},
	unique-id = {34175890},
	year = {2023},
	pages = {38-39},
	orcid-numbers = {Takács, Dénes/0000-0003-1226-8613}
}

@CONFERENCE{MTMT:34224119,
	title = {Data Collection for Learning the Dynamics and Control of an Electric Unicycle},
	url = {https://m2.mtmt.hu/api/publication/34224119},
	author = {Mihályi, Levente and Ji, Xunbi A. and Orosz, Gábor and Takács, Dénes},
	booktitle = {The Evolving Scholar - BMD 2023, 5th Edition},
	unique-id = {34224119},
	year = {2023},
	pages = {1-2},
	orcid-numbers = {Ji, Xunbi A./0000-0002-7024-2959; Orosz, Gábor/0000-0002-9000-3736; Takács, Dénes/0000-0003-1226-8613}
}