In the development of autonomous ground vehicles (AGVs), how to guarantee vehicle lateral stability is one of the most critical aspects. Based on nonlinear vehicle lateral and tire dynamics, new driving requirements of AGVs demand further studies and analyses of vehicle lateral stability control strategies. To achieve comprehensive analyses and stability-guaranteed vehicle lateral driving control, this dissertation presents three main contributions.First, a new method is proposed to estimate and analyze vehicle lateral driving stability regions, which provide a direct and intuitive demonstration for stability control of AGVs. Based on a four-wheel vehicle model and a nonlinear 2D analytical LuGre tire model, a local linearization method is applied to estimate vehicle lateral driving stability regions by analyzing vehicle local stability at each operation point on a phase plane. The obtained stability regions are conservative because both vehicle and tire stability are simultaneously considered. Such a conservative feature is specifically important for characterizing the stability properties of AGVs. Second, to analyze vehicle stability, two novel features of the estimated vehicle lateral driving stability regions are studied. First, a shifting vector is formulated to explicitly describe the shifting feature of the lateral stability regions with respect to the vehicle steering angles. Second, dynamic margins of the stability regions are formulated and applied to avoid the penetration of vehicle state trajectory with respect to the region boundaries. With these two features, the shiftable stability regions are feasible for real-time stability analysis. Third, to keep the vehicle states (lateral velocity and yaw rate) always stay in the shiftable stability regions, different control methods are developed and evaluated. Based on different vehicle control configurations, two dynamic sliding mode controllers (SMC) are designed. To better control vehicle stability without suffering chattering issues in SMC, a non-overshooting model predictive control is proposed and applied. To further save computational burden for real-time implementation, time-varying control-dependent invariant sets and time-varying control-dependent barrier functions are proposed and adopted in a stability-guaranteed vehicle control problem. Finally, to validate the correctness and effectiveness of the proposed theories, definitions, and control methods, illustrative simulations and experimental results are presented and discussed.

This paper details ink chemistries and processes to fabricate passive microfluidic devices using drop-on-demand printing of tetraethyl-orthosilicate (TEOS) inks. Parameters space investigation of the relationship between printed morphology and ink chemistries and printing parameters was conducted to demonstrate that morphology can be controlled by adjusting solvents selection, TEOS concentration, substrate temperature, and hydrolysis time. Optical microscope and scanning electron microscope images were gathered to observe printed morphology and optical videos were taken to quantify the impact of morphology on fluid flow rates. The microscopy images show that by controlling the hydrolysis time of TEOS, dilution solvents and the printing temperature, dense or fracture structure can be obtained. Fracture structures are used as passive fluidic device due to strong capillary action in cracks. At last, flow rate of passive fluidic devices with different thickness printed at different temperatures are measured and compared. The result shows the flow rate increases with the increase of device width and thickness. By controlling the morphology and dimensions of printed structure, passive microfluidic devices with designed flow rate and low fluorescence background are able to be printed.