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

Author(s)

Ribeiro, A. M. ; Fioravanti, A. R. ; Moutinho, A. ; de Paiva, E. C.

• Document type: Journal article
• Source: VEHICLE SYSTEM DYNAMICS; v. 60, n. 3, p. 27-pg., 2020-11-10.

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 Opportunities: Research Projects - Thematic Grants
• FAPESP's process: 18/04905-1 - Automatization of a Robotic Electric Vehicle with Electronic Differential
• Grantee: André Ricardo Fioravanti
• Support Opportunities: 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 Opportunities: Scholarships in Brazil - Doctorate