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(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Nonlinear state-feedback design for vehicle lateral control using sum-of-squares programming

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Author(s):
Ribeiro, A. M. [1, 2] ; Fioravanti, A. R. [2] ; Moutinho, A. [1] ; de Paiva, E. C. [2]
Total Authors: 4
Affiliation:
[1] Univ Lisbon, Inst Super Tecn, IDMEC, Lisbon - Portugal
[2] Univ Estadual Campinas, Sch Mech Engn, Campinas - Brazil
Total Affiliations: 2
Document type: Journal article
Source: VEHICLE SYSTEM DYNAMICS; NOV 2020.
Web of Science Citations: 0
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. (AU)

FAPESP's process: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment
Grantee:Marco Henrique Terra
Support type: Research Projects - Thematic Grants
FAPESP's process: 18/04905-1 - Automatization of a Robotic Electric Vehicle with Electronic Differential
Grantee:André Ricardo Fioravanti
Support type: Regular Research Grants
FAPESP's process: 18/05712-2 - Identification and control of a robotic electric vehicle with electronic differential
Grantee:Alexandre Monteiro Ribeiro
Support type: Scholarships in Brazil - Doctorate