Title :
The steering control of vehicle dynamics via a Lyapunov redesign approach
Author :
Chung, Wen-Ching ; Liaw, Der-Cherng ; Chang, Shih-Tse
Author_Institution :
Dept. of Electr. & Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
In this paper, Lyapunov redesign method is proposed to control the steering of vehicle. It was observed in Liaw and Chung (2006) that the vehicle dynamics would exhibit the saddle-node bifurcation phenomenon at some front wheel steering angle. This might result in spin and/or instability for vehicle system. Based on the assumption of constant driving velocity, a Lyapunov redesign control law was proposed to stabilize the system dynamics at the bifurcation point for guaranteeing system stability after the appearance of stall. Simulation results for an example model of vehicle dynamics were presented to illustrate the success of the proposed design.
Keywords :
Lyapunov methods; control system synthesis; stability; steering systems; vehicle dynamics; Lyapunov redesign control law; constant driving velocity; front wheel steering angle; saddle-node bifurcation; steering control; system dynamics; vehicle dynamics; vehicle system stability; Bifurcation; Control systems; Intelligent transportation systems; Linear feedback control systems; Road accidents; Vehicle driving; Vehicle dynamics; Vehicle safety; Vehicles; Wheels;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399486
