Nonlinear analysis of actuator interventions using robust controlled invariant sets

P. Gáspár, B. Németh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The paper analyzes the maximum robust Controlled Invariant Sets of lateral vehicle dynamical actuators. In the analysis the nonlinear polynomial Sum-of-Squares (SOS) programming method is applied. It considers the nonlinear characteristics of the lateral tire force with a polynomial approximation. Since the tire force characteristics depend on several conditions (e.g. vertical loads, road frictions), their effects occur in the modeling as uncertainties. Parametric uncertainties of the tire model are considered in the robust stability of vehicle dynamics. The maximum robust Controlled Invariant Sets approximate the regions of the tire side-slip angles in which the vehicle can be robustly stabilized by constrained control inputs. As an example the maximum robust Controlled Invariant Sets of the steering and the brake control systems are estimated at various velocities and road conditions. The results of the analysis concerning the steering and the brake control will be illustrated through simulation examples.

Original languageEnglish
Title of host publicationThe Dynamics of Vehicles on Roads and Tracks - Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015
PublisherCRC Press/Balkema
Pages375-382
Number of pages8
ISBN (Print)9781138028852
Publication statusPublished - 2016
Event24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015 - Graz, Austria
Duration: Aug 17 2015Aug 21 2015

Other

Other24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015
CountryAustria
CityGraz
Period8/17/158/21/15

Fingerprint

Nonlinear analysis
Tires
Actuators
Brakes
Polynomial approximation
Polynomials
Friction
Control systems
Uncertainty

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering

Cite this

Gáspár, P., & Németh, B. (2016). Nonlinear analysis of actuator interventions using robust controlled invariant sets. In The Dynamics of Vehicles on Roads and Tracks - Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015 (pp. 375-382). CRC Press/Balkema.

Nonlinear analysis of actuator interventions using robust controlled invariant sets. / Gáspár, P.; Németh, B.

The Dynamics of Vehicles on Roads and Tracks - Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015. CRC Press/Balkema, 2016. p. 375-382.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Gáspár, P & Németh, B 2016, Nonlinear analysis of actuator interventions using robust controlled invariant sets. in The Dynamics of Vehicles on Roads and Tracks - Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015. CRC Press/Balkema, pp. 375-382, 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015, Graz, Austria, 8/17/15.
Gáspár P, Németh B. Nonlinear analysis of actuator interventions using robust controlled invariant sets. In The Dynamics of Vehicles on Roads and Tracks - Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015. CRC Press/Balkema. 2016. p. 375-382
Gáspár, P. ; Németh, B. / Nonlinear analysis of actuator interventions using robust controlled invariant sets. The Dynamics of Vehicles on Roads and Tracks - Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015. CRC Press/Balkema, 2016. pp. 375-382
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