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An algorithm was developed for a speed-dependent four-wheel steering system for a Formula SAE car. A linear bicycle model was implemented using the MATLAB and SIMULINK software packages. Various control laws were investigated for the rear steer angle with the objective of reducing the sideslip angle. A full 3D model of the vehicle incorporating weight transfer and tire non-linearity was then developed using the DADS software. An algorithm developed using the linear model with the aim of reducing vehicle sideslip angle was implemented in the nonlinear model. It is shown that this algorithm can improve the dynamic performance for both high-speed and low-speed maneuvers.

Airport crash rescue vehicles are required to match limit conditions of performance in regard to acceleration, mobility and load carrying capability, with a very high degree of “on-the-day” reliability to meet emergency conditions. This paper describes a unique range of vehicles, which comprises four, six, and eight wheel drive vehicles, with independent suspension and an all up weight from 12 to 28 tonnes. Installed power is from 340 to 550 horse power (255 to 413 kW) and all vehicles drive through an automatic change speed gear box to a transfer box and thence to rigidly mounted axles with controlled slip differentials. Ventilated disc brakes with servo actuation are used on all wheels and crew cabs are designed for optimum crew safety.