<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In the paper, an analysis method is applied to the lateral stabilization problem of vehicle systems. The aim is to find the largest state-space region in which the lateral stability of the vehicle can be guaranteed by the peak-bounded control input. In the analysis, the nonlinear polynomial sum-of-squares programming method is applied. A practical computation technique is developed to calculate the maximum controlled invariant set of the system. The method calculates the maximum controlled invariant sets of the steering and braking control systems at various velocities and road conditions. Illustration examples show that, depending on the environments, different vehicle dynamic regions can be reached and stabilized by these controllers. The results can be applied to the theoretical basis of their interventions into the vehicle control system.</p></abstract>

In the paper, an analysis method is applied to the lateral stabilization problem of vehicle systems. The aim is to find the largest state-space region in which the lateral stability of the vehicle can be guaranteed by the peak-bounded control input. In the analysis, the nonlinear polynomial sum-of-squares programming method is applied. A practical computation technique is developed to calculate the maximum controlled invariant set of the system. The method calculates the maximum controlled invariant sets of the steering and braking control systems at various velocities and road conditions. Illustration examples show that, depending on the environments, different vehicle dynamic regions can be reached and stabilized by these controllers. The results can be applied to the theoretical basis of their interventions into the vehicle control system.

Nonlinear analysis of vehicle control actuations based on controlled invariant sets

Systems and Control Laboratory, Institute for Computer Science and Control Hungarian Academy of Sciences, Kende utca 13–17, 1111 Budapest, Hungary

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

In the paper, an analysis method is applied to the lateral stabilization problem of vehicle systems. The aim is to find the largest state-space region in which...

Nonlinear analysis of vehicle control actuations based on controlled invariant sets

Publicado en línea: 31 mar 2016

Páginas: 31 - 43

Recibido: 04 nov 2014

DOI: https://doi.org/10.1515/amcs-2016-0003

Palabras clave
vehicle dynamics, sum-of-squares programming, Lyapunov method

© 2016 Balázs Németh et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Nonlinear analysis of vehicle control actuations based on controlled invariant sets

Publicado en línea: 31 mar 2016

Páginas: 31 - 43

Recibido: 04 nov 2014

DOI: https://doi.org/10.1515/amcs-2016-0003

Palabras clavevehicle dynamics, sum-of-squares programming, Lyapunov method

© 2016 Balázs Németh et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Palabras clave
vehicle dynamics, sum-of-squares programming, Lyapunov method