Mechatronic system for stable operation of a narrow-enclosed vehicle

A mechatronic system for stable operation of a narrow-enclosed vehicle, comprising:

• a steering column configured to receive torque input from a driver;
• a pair of coaxial planetary gear sets comprising a sun gear, a carrier, a planet gear, and a ring gear;
• a tilt subsystem driven by a rotational motion of the ring gears to adjust a tilt angle of the narrow-enclosed vehicle;
• a steering subsystem connected to an output shaft and configured to steer the narrow-enclosed vehicle;
• a first holding device, a second holding device, and a third holding device selectively engageable to control the rotational motion of the ring gears and the carriers;
• an electric motor controlled by an electric control unit to provide torque for adjusting the tilt and steering of the narrow-enclosed vehicle;
• and
• an actuator subsystem comprising a failsafe subsystem and a hydraulic subsystem controlled by the electronic control unit to engage or disengage the first holding device, the second holding device, and the third holding device.