# Nonlinear analysis of vehicle control actuations based on controlled invariant sets

Balázs Németh; Péter Gáspár; Tamás Péni

International Journal of Applied Mathematics and Computer Science (2016)

- Volume: 26, Issue: 1, page 31-43
- ISSN: 1641-876X

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topBalázs Németh, Péter Gáspár, and Tamás Péni. "Nonlinear analysis of vehicle control actuations based on controlled invariant sets." International Journal of Applied Mathematics and Computer Science 26.1 (2016): 31-43. <http://eudml.org/doc/276550>.

@article{BalázsNémeth2016,

abstract = {In the paper, an analysis method is applied to the lateral stabilization problem of vehicle systems. The aim is to find the largest state-space region in which the lateral stability of the vehicle can be guaranteed by the peak-bounded control input. In the analysis, the nonlinear polynomial sum-of-squares programming method is applied. A practical computation technique is developed to calculate the maximum controlled invariant set of the system. The method calculates the maximum controlled invariant sets of the steering and braking control systems at various velocities and road conditions. Illustration examples show that, depending on the environments, different vehicle dynamic regions can be reached and stabilized by these controllers. The results can be applied to the theoretical basis of their interventions into the vehicle control system.},

author = {Balázs Németh, Péter Gáspár, Tamás Péni},

journal = {International Journal of Applied Mathematics and Computer Science},

keywords = {vehicle dynamics; sum-of-squares programming; Lyapunov method},

language = {eng},

number = {1},

pages = {31-43},

title = {Nonlinear analysis of vehicle control actuations based on controlled invariant sets},

url = {http://eudml.org/doc/276550},

volume = {26},

year = {2016},

}

TY - JOUR

AU - Balázs Németh

AU - Péter Gáspár

AU - Tamás Péni

TI - Nonlinear analysis of vehicle control actuations based on controlled invariant sets

JO - International Journal of Applied Mathematics and Computer Science

PY - 2016

VL - 26

IS - 1

SP - 31

EP - 43

AB - In the paper, an analysis method is applied to the lateral stabilization problem of vehicle systems. The aim is to find the largest state-space region in which the lateral stability of the vehicle can be guaranteed by the peak-bounded control input. In the analysis, the nonlinear polynomial sum-of-squares programming method is applied. A practical computation technique is developed to calculate the maximum controlled invariant set of the system. The method calculates the maximum controlled invariant sets of the steering and braking control systems at various velocities and road conditions. Illustration examples show that, depending on the environments, different vehicle dynamic regions can be reached and stabilized by these controllers. The results can be applied to the theoretical basis of their interventions into the vehicle control system.

LA - eng

KW - vehicle dynamics; sum-of-squares programming; Lyapunov method

UR - http://eudml.org/doc/276550

ER -

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