本文总结了近年来车辆操纵动力学的研究现状，目前研究的热点问题以及近期的发展趋势。特别关注于对改善车辆操纵性能有巨大作用的四轮转向车辆（4WS）的研究上，分析总结了其模型建立、控制策略和执行方法，报告了东南大学在这些方南与国际合作的一些研究成果。

This paper presents the method to deal with numerical time response analysis of a moving clamp that is running over a roller battery support of a cable transport system, which is a dynamics procedure involving time and form varying nonholonomic kinematics constraints as well as inter-excitation between parts. The numerical results are compared with test ones.

In this paper, a lateral controller is designed for four-wheel steering (4WS) vehicle. The linear lateral dynamics of 4WS vehicle is deduced and then analyzed aided with three-dimensional graphs. To improve vehicle handling and stability at high speed, a multi-objective H∞ optimal control algorithm is presented while yaw rate is the only feedback signal. Simulation shows that the sideslip angle, yaw rate and lateral acceleration of the 4WS vehicle follow and maintain preferable characteristics. The 4WS vehicle is agile and consistent with the steering input and does not understeer excessively.

A dynamic model is developed for a cable supporting roller battery of cable transport systems, which allows the calculation of eigenfrequencies and modes under the restoring action of a pretensioned cable and subsequently enables the response investigation during the successive passage of a clamp (with supported vehicles) over the rollers. An analytical method is developed and the analytical results are compared with test results: the calculated eigenmodes and eigenfrequencies are in satisfying agreement with our test results.