Sum of squares approach for ground vehicle lateral control under tire saturation forces

Author(s)

Ribeiro, Alexandre M. ; Fioravanti, Andre R. ; Moutinho, Alexandra ; de Paiva, Ely C.

• Document type: Journal article
• Source: IFAC PAPERSONLINE; v. 53, n. 2, p. 7-pg., 2020-01-01.

Abstract

This work presents the stability analysis and design of a lateral controller for a nonlinear ground vehicle applying the concept of polynomial sum of squares relaxations. The system is approximated by a polynomial vector field that describes the lateral vehicle dynamics. The resulting polynomial system falls on a class of non-affine in input system, which makes the control synthesis more involved. This issue is circumvented by an input-affine approximation, simplifying the stability analysis and the design procedure of a polynomial state-feedback controller able to enlarge the region of attraction (RoA). We also compare the estimated region of attraction with the standard LQR optimal controller. Copyright (C) 2020 The Authors. (AU)

• 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
• 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: 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