Table 3 Control effect comparison.

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

Vehicle response

RI2 control stable value

NLTR control stable value

NLTR control optimization rate

Yaw rate (deg/s)

20.51

19.83

3.3%

Slip angle (deg)

0.39

0.42

− 7.7%

Lateral acceleration (g)

0.33

0.30

9.1%

LTR

0.58

0.54

6.9%

Instantaneous moment of instability (s)

4.07

4.85

–

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