The main contribution of this article is the development of a controller for tracking of the driver intended path of an integrated driver/vehicle system. The controller receives heading and lateral deviation errors as well as the driver input and determines a corrective steering angle and a direct yaw moment to be applied to the vehicle so that a desired path is achieved. A genetic algorithm procedure is utilized in order to adapt a set of optimized controller parameters suitable for various driving styles, road conditions and the initial errors of vehicle position and orientation. The sensitivity of driver/ vehicle system response to the driver model, road and vehicle initial conditions is investigated. Computer simulations are performed to study the effectiveness of the proposed controller in different driving conditions, namely single-and double-lane changes, J-turn and other desired tracks. Simulation results demonstrated that the proposed controller was able to effectively keep the vehicle path very close to the desired path even in the presence of the driver commands.

In this paper, an optimal controller for integrated longitudinal and lateral closed loop vehicle/driver dynamics proposed to follow desired path in various driving maneuvers, which also improved maneuverability and stability of vehicle over desired path. Designed controller imposed corrected steering angle and torque on the wheels to keep the vehicle on the desired trajectory whilst modified its handling properties. In the next stage, performance of proposed optimal linear quadratic regulator (LQR) controller compared with Proportional-integrated-derivative (PID) one. The proposed controllers has been implemented on vehicle eight degree of freedom model in MATLAB/Simulink. Then the effects of adaptive controller on vehicle path following has been examined for various maneuvers, by driving on the lane change, J-turn, double lane-change and desired tracks. Finally, longitudinal dynamic performance of vehicle has been investigated during severe braking conditions. Simulation results indicated the dominate efficiency of controller on the vehicle stabilization and path following. Also, it improved longitudinal dynamics performance by preventing wheel lock and reducing stopping distance.

one of the main objectives of designing robotic systems is to design structures, capable of performing multi tasks. Redundant manipulators by having high degrees of freedom, expand the end-effectors' workspace and are widely used as multi-task systems. In this paper, mechanical design, kinematic and dynamic analyses, implementation of mechanical part and electronic hardware and control of a redundant 7-DOF robotic manipulator, based on the upper extremity structure of the human body has been addressed. The discontinuous Lyapunov-based controller is used, which comprises of integral operator and tracking controller. The goal is to improve the tracking performance of the robot manipulator in the presence of bounded and time variant disturbances. The proposed trajectory, relaxes the need of having knowledge about nonlinear dynamics. Based on the disturbance rejection scheme, tracking controller has been constructed which was asymptotically stabilizing in the sense of Lyapunov. Simulation results showed that the closed loop system strongly rejects disturbances.