Lateral stability analysis of on-road vehicles using Lyapunov's direct method

Sadri, Sobhan; Wu, Chenyu

doi:10.1109/ivs.2012.6232162

Cited by 17 publications

(7 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The majority of the works on the subject considers either a phase portrait of a simplified system [4], [8]- [12] or the linearized system characteristic equation [4], [5], [13], [14] to evaluate system stability. This does not imply, naturally, that other approaches have not been presented, for instance, Lyapunov techniques [15], [16]. Finally, we mention that this work is concerned with lateral stability, and not roll stability, e.g., in [17]; or unified chassis control [18], [19].…”

Section: Introductionmentioning

confidence: 98%

Vehicle Lateral Stability Regions for Control Applications

2022

View full text Add to dashboard Cite

This article presents an improved method of obtaining lateral stability regions for road vehicles, considering the influence of steering angle, center of gravity, longitudinal speed, and tire-road friction coefficient on the vehicle dynamics. Comprehensive stability regions are obtained for a wide range of such parameters. Moreover, conservative stability regions are proposed, in the case of control applications that demand robust or safety-critical control actions. Next, a steering-angle-dependent region is used to implement a safety-critical electronic stability control system with active front steering as actuation. The resulting control system extends safety-critical control based on control-dependent barrier functions, introducing a control-dependent Lyapunov function to improve its steady-state behavior. Finally, we identify and propose workarounds for problems that arise from the number of inputs being less than the dimension of the desired safe set. The conservative stability regions and the extended safety-critical control system are validated by means of simulation results based on a nonlinear lateral stability model. INDEX TERMSActive front steering, control barrier function, electronic stability control, safety-critical control, vehicle lateral stability, vehicle stability control.

show abstract

Section: Introductionmentioning

confidence: 98%

Vehicle Lateral Stability Regions for Control Applications

2022

View full text Add to dashboard Cite

show abstract

“…13 Samsundar and Huston, 13 Johnson and Huston 14 uses Lyapunov second method to solve the lateral stability region of the nonlinear vehicle model. Sadri and Wu 15 proposed two new Lyapunov functions based on the research in paper 13 and paper. 14 These two functions do not depend explicitly on the vehicle parameters, and compared with previous work, a larger stability region is obtained.…”

Section: Introductionmentioning

confidence: 99%

Driving stability region solving method based on dissipation of energy

Meng

Shi

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

In the research of vehicle handling stability, it is important to analyze the vehicle driving stability region based on the driving torque and the front wheel steering angle bifurcation characteristics. Therefore, further simplifying and optimizing the method of solving the vehicle driving stability region is very useful. This paper proposes a new method for solving driving stability region based on dissipation of energy for the first time. This method has clear physical significance, and has a lot of advantages comparing with the classic methods: (1) The dissipation of energy is a quantitative indicator. (2) The calculation equation is simpler, and the calculation process is more intuitive. (3) This method is easier to expand, such as solving the driving stability region for higher degrees of freedom model.

show abstract

“…The classical methods includes the model-based control analysis and synthesis techniques, i.e., linear robust and optimal control methods (H 2 , H ∞ ), parameter-varying methods, e.g., Linear Parameter Varying (LPV) and Nonlinear Parameter Varying (NLPV) [1,2], Model Predictive Control (MPC) approaches [3] or polynomial methods [4,5]. One of the main sources of the nonlinearities is the tire-road contact, it stability is analyzed in [6] and a Lyapunov control method for this problem is presented in [7]. The uncertainties and the nonlinearities of the vehicle may have external sources, which can be handled by an adaptive robust controller, see [8].…”

Section: Introductionmentioning

confidence: 99%

A Novel Data-Driven Modeling and Control Design Method for Autonomous Vehicles

2021

View full text Add to dashboard Cite

This paper presents a novel modeling method for the control design of autonomous vehicle systems. The goal of the method is to provide a control-oriented model in a predefined Linear Parameter Varying (LPV) structure. The scheduling variables of the LPV model through machine-learning-based methods using a big dataset are selected. Moreover, the LPV model parameters through an optimization algorithm are computed, with which accurate fitting on the dataset is achieved. The proposed method is illustrated on the nonlinear modeling of the lateral vehicle dynamics. The resulting LPV-based vehicle model is used for the control design of path following functionality of autonomous vehicles. The effectiveness of the modeling and control design methods through comprehensive simulation examples based on a high-fidelity simulation software are illustrated.

show abstract

Lateral stability analysis of on-road vehicles using Lyapunov's direct method

Cited by 17 publications

References 12 publications

Vehicle Lateral Stability Regions for Control Applications

Vehicle Lateral Stability Regions for Control Applications

Driving stability region solving method based on dissipation of energy

A Novel Data-Driven Modeling and Control Design Method for Autonomous Vehicles

Contact Info

Product

Resources

About