ABSTRACT

This work addresses the lateral stabilisation problem of four-wheels ground vehicles. The objective is to estimate the largest state-space region such that the closed-loop vehicle lateral stability can be guaranteed. Sum-of-squares (SOS) programming technique is applied to find these maximum invariant sets while accounting for steering and yaw moment input saturations. The algorithm allows the region of attraction (RoA) to be approximated by a level set of a Lyapunov function (LF) and the computation of polynomial state feedback control laws. The method is applied for both straight-line motion and cornering manoeuver. Finally, a Monte-Carlo analysis is presented to show that the proposed SOS-based methodology can be used as a valid analysis and design tool considering a real vehicle application.

摘要

这项工作解决了四轮地面车辆的横向稳定问题。目标是估计最大的状态空间区域，以保证闭环车辆横向稳定性。平方和 (SOS) 编程技术用于找到这些最大不变量集，同时考虑转向和横摆力矩输入饱和度。该算法允许通过 Lyapunov 函数 (LF) 的水平集和多项式状态反馈控制律的计算来近似吸引区域 (RoA)。该方法适用于直线运动和转弯机动。最后，提出了蒙特卡罗分析，以表明所提出的基于 SOS 的方法可以用作考虑实际车辆应用的有效分析和设计工具。