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Cambridge Vehicle Dynamics Consortium


Publications on Active Steering

  1. Jujnovich, B and Cebon, D.  'Comparative performance of semi-trailer steering systems'.  Proc 7th International Symposium on Heavy Vehicle Weights and Dimensions, Delft, June 16 – 20, 2002.
  2. Jujnovich, BA. and Cebon, D.  ‘Validation of a semi-trailer steering model’, Presented at 8th International Symposium on Heavy Vehicle Weights and Dimensions, 14th - 18th March 2004, South Africa.
  3. Jujnovich, BA and Cebon, D.  ‘Path-following steering control for articulated vehicles’.  Sub to ASME Journal of Dynamic Systems Measurement and Control, August 2008.
  4. Jujnovich, BA, Roebuck, RL, Odhams, AMC and Cebon, D.  ‘Implementation of active rear steering of a tractor-semi-trailer’.  Proc 10th International Symposium on Heavy Vehicle Transport Technology, Paris, 2008.
  5. Jujnovich, BA, , Odhams, AMC, Roebuck, RL and Cebon, D.  ‘Active Rear Steering Control of a Tractor - Semi-Trailer’, Proc 9th International Symposium on Advanced Vehicle Control, AVEC’08, 2008. Kobe, Japan.
  6. Cheng, C. and Cebon, D.  ‘Improving roll stability of articulated heavy vehicles using active semi-trailer steering’, Vehicle System Dynamics, Volume 46, Issue S1 & 2 2008 , pages 373 – 388.
  7. Odhams, AMC; Roebuck, RL; Cebon, D and Winkler, CB ‘Dynamic safety of active trailer steering systems’.  Proc. IMechE, Part K: J. Multi-body Dynamics, 2008, 222(K4), pp367-380.
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    Cheng, C. and Cebon, D.  ‘Parameter and State Estimation for Articulated  Heavy Vehicles’  Vehicle System Dynamics, VSD Vol 49, No 1, pp 399-418, 2010.

  9. Cheng, C,  Roebuck, R, Odhams, AMC, and Cebon, D.  High-speed optimal steering of a tractor-semitrailer’, VSD, International Journal of Vehicle Mechanics and Mobility, Volume 49 Issue 4, p561-593, April 2011.

  10. Odhams, AMC, Roebuck, RL, Jujnovich, BA, Cebon, D. ‘Active Steering of a Tractor Semitrailer’  IMechE J Auto Eng.  Proc IMech E, Part D: J Auto Eng July 2011 vol. 225 no. 7 847-869. DOI:

  11. Jujnovich, BA and Cebon, D.  ‘Path-following steering control for articulated vehicles’.  ASME J. Dyn. Sys., Meas., Control Vol 135 Number 3, 031006 May 2013, 15pp DOI:

  12. Roebuck, RL, Odhams, AMC, Tagesson, K, Cheng, C. Cebon, D..  ‘Implementation of trailer steering control on a multi-unit articulated vehicle at high speeds’  ASME Journal of Dynamic Systems, Measurement and Control, 136(2), 021016, 2014.

  13. Roebuck, RL, Odhams, AMC and Cebon, D.  ‘An Automatically-Reconfigurable Software-Based Safety System for Rear-Steering Multi-Unit Vehicles’  IMechE J Auto Eng.  Vol 229 No 2, pp143-162, 2015, doi:

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