TY - JOUR AU - Mihályi, Levente AU - Takács, Dénes TI - The effect of path curvature on the stability of reversing truck–semitrailer in the presence of feedback delay JF - VEHICLE SYSTEM DYNAMICS J2 - VEHICLE SYST DYN VL - 63 PY - 2025 IS - 8 SP - 1523 EP - 1542 PG - 20 SN - 0042-3114 DO - 10.1080/00423114.2024.2374443 UR - https://m2.mtmt.hu/api/publication/35138909 ID - 35138909 N1 - Received 27 Oct 2023, Accepted 22 Jun 2024, Published online: 06 Jul 2024 AB - 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. LA - English DB - MTMT ER - TY - CHAP AU - Mihályi, Levente AU - Takács, Dénes ED - Živković, Miroslav ED - Milovanović, Vladimir ED - Dunić, Vladimir ED - Bodić, Aleksandar TI - EFFECTS OF STEERING ANGLE SATURATION ON STABILITY OF REVERSING TRAILERS T2 - 41st Danubia-Adria Symposium Advances in Experimental Mechanics PB - Faculty of Engineering University of Kragujevac CY - Kragujevac SN - 9788663351578 PY - 2025 SP - 37 EP - 38 PG - 2 DO - 10.46793/41DAS2025.037M UR - https://m2.mtmt.hu/api/publication/36387803 ID - 36387803 AB - 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. LA - English DB - MTMT ER - TY - CHAP AU - Mihályi, Levente AU - Takács, Dénes ED - Lacarbonara, Walter TI - Reversing Along a Curved Path by an Autonomous Truck–Semitrailer Combination T2 - Advances in Nonlinear Dynamics, Volume II PB - Springer CY - Cham SN - 9783031506390 T3 - NODYCON Conference Proceedings Series, ISSN 2730-7689 PY - 2024 SP - 105 EP - 115 PG - 11 DO - 10.1007/978-3-031-50639-0_10 UR - https://m2.mtmt.hu/api/publication/34224098 ID - 34224098 LA - English DB - MTMT ER - TY - JOUR AU - Mihályi, Levente AU - Takács, Dénes TI - Investigating Reversing Motion of Truck-Semitrailer Along Clothoid Curve JF - LECTURE NOTES IN MECHANICAL ENGINEERING J2 - LECT NOTES MECHAN ENG VL - 16th International Symposium on Advanced Vehicle Control PY - 2024 SP - 686 EP - 692 PG - 7 SN - 2195-4356 DO - 10.1007/978-3-031-70392-8_97 UR - https://m2.mtmt.hu/api/publication/35490175 ID - 35490175 N1 - Conference code: 320919 Correspondence Address: Mihályi, L.; Department of Applied Mechanics, Műegyetem rkp. 3., Hungary; email: mihalyi@mm.bme.hu Funding details: Magyar Tudományos Akadémia, MTA Funding details: Nemzeti Kutatási Fejlesztési és Innovációs Hivatal, NKFIH, NKFI-146201, 2020-1.2.4-TET-IPARI-2021-00012 Funding text 1: The research reported in this paper was partly supported by the J\\u00E1nos Bolyai Research Scholarship of the Hungarian Academy of Sciences and by the National Research, Development and Innovation Office under grant no. NKFI-146201; and by 2020-1.2.4-TET-IPARI-2021-00012, and by the Foundation for Mechanical Engineering Education. AB - 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. LA - English DB - MTMT ER - TY - CONF AU - Mihályi, Levente AU - Takács, Dénes TI - Effect of Time Delay on the Stability of Reversing Semitrailer T2 - 18th IFAC TDS - Time Delay Systems - Program & Book of abstracts PY - 2024 PG - 2 UR - https://m2.mtmt.hu/api/publication/35671968 ID - 35671968 LA - English DB - MTMT ER - TY - JOUR AU - Mihályi, Levente AU - Ji, Xunbi A. AU - Orosz, Gábor AU - Takács, Dénes TI - Experimental Model Identification of the Longitudinal Dynamics of an Electric Unicycle with a Human Rider JF - IFAC PAPERSONLINE J2 - IFACOL VL - 58 PY - 2024 IS - 28 SP - 210 EP - 215 PG - 6 SN - 2405-8971 DO - 10.1016/j.ifacol.2024.12.036 UR - https://m2.mtmt.hu/api/publication/35803516 ID - 35803516 N1 - Funding Agency and Grant Number: National Research, Development and Innovation Office of Hungary [NKFI-146201]; Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences; Hungarian Academy of Sciences within the Distinguished Guest Fellowship Programme; Fulbright Foundation Funding text: This research was supported by the National Research, Development and Innovation Office of Hungary under grant no. NKFI-146201. DT is also supported by the Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences. GO acknowledges the support of the Hungarian Academy of Sciences within the Distinguished Guest Fellowship Programme and the support of the Fulbright Foundation. AB - 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. LA - English DB - MTMT ER - TY - JOUR AU - Mihályi, Levente AU - Takács, Dénes TI - Linear Stability of Reversing a Car-trailer Combination JF - PERIODICA POLYTECHNICA-MECHANICAL ENGINEERING J2 - PERIOD POLYTECH MECH ENG VL - 67 PY - 2023 IS - 2 SP - 87 EP - 93 PG - 7 SN - 0324-6051 DO - 10.3311/PPme.18971 UR - https://m2.mtmt.hu/api/publication/33761882 ID - 33761882 N1 - Correspondence Address: Mihályi, L.; Department of Applied Mechanics, Műegyetem rkp. 3, Hungary; email: mihalyi@mm.bme.hu AB - 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. LA - English DB - MTMT ER - TY - CONF AU - Mihályi, Levente AU - Takács, Dénes ED - Baksa, Attila ED - Bertóti, Edgár ED - Kiss, László Péter TI - Nyerges vontató pályakövető tolatása körív mentén T2 - XIV. Magyar Mechanikai Konferencia, Az előadások összefoglalói PB - Miskolci Egyetem, Gépészmérnöki és Informatikai Kar C1 - Miskolc-Egyetemváros SN - 9789633583012 PY - 2023 SP - 1 PG - 1 UR - https://m2.mtmt.hu/api/publication/34123223 ID - 34123223 LA - Hungarian DB - MTMT ER - TY - CONF AU - Mihályi, Levente AU - Takács, Dénes ED - Kossa, Attila TI - Small-Scale Experiments on Reversing Semitrailers T2 - Book of Abstracts. 39th Danubia-Adria Symposium on Advances in Experimental Mechanics. 2023 Hungary PB - Gépipari Tudományos Egyesület (GTE) C1 - Siófok SN - 9789634219279 PY - 2023 SP - 38 EP - 39 PG - 2 UR - https://m2.mtmt.hu/api/publication/34175890 ID - 34175890 LA - English DB - MTMT ER - TY - CONF AU - Mihályi, Levente AU - Ji, Xunbi A. AU - Orosz, Gábor AU - Takács, Dénes TI - Data Collection for Learning the Dynamics and Control of an Electric Unicycle T2 - The Evolving Scholar - BMD 2023, 5th Edition PB - The Evolving Scholar - BMD 2023, 5th Edition PY - 2023 SP - 1 EP - 2 PG - 2 UR - https://m2.mtmt.hu/api/publication/34224119 ID - 34224119 LA - English DB - MTMT ER -