Table 2 Control effect comparison.

From: Braking failure anti-rollover control and hardware-in-the-loop verification of wire-controlled heavy vehicles

Vehicle response

LTR control stable value

RI2 control stable value

NLTR control stable value

NLTR control optimization rate

Yaw rate (deg/s)

16.39

16.26

16.22

0.2%

Slip angle (deg)

− 0.81

− 0.74

− 0.76

2.7%

Lateral acceleration (g)

0.34

0.35

0.34

2.8%

LTR

0.61

0.60

0.60

0.0%

Instantaneous moment of instability (s)

6.05

5.85

6.04

–

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