Nonlinear analysis of vehicle control actuations based on controlled invariant sets

• Autorzy: Németh B. , Gáspár P. , Péni T.

Identyfikatory

DOI

10.1515/amcs-2016-0003

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

vehicle dynamics; sum of squares programming; Lyapunov method

PL

dynamika pojazdu; metoda Lapunowa; analiza nieliniowa

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2016
• Tom: Vol. 26, no. 1
• Strony: 31--43
• Opis fizyczny: Bibliogr. 38 poz., rys., tab., wykr.

Twórcy

autor

Németh B.

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

autor

Gáspár P.

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

autor

Péni T.

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

Bibliografia

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Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.