Control design for vehicle's lateral dynamics

Der Cheng Liaw*, Wen Ching Chung

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Scopus citations

Abstract

Issues of controllability and stabilization design for vehicle's lateral dynamics are presented. Based on the assumption of constant driving speed, a second-order nonlinear lateral dynamical model is obtained. It is observed that saddle node bifurcation will appear in vehicle dynamics with respect to the variation of the front wheel steering angle, which might result in spin and/or system instability. In order to possibly prevent the occurrence of such an instability, the controllability of vehicle dynamics at the saddle node bifurcation point is discussed. This leads to the design of a direct state feedback control law for system stabilization. Two-Parameter bifurcation analysis of system behavior is also obtained to classify the regime of the effective control gains for system stabilization. Numerical simulations for an example model demonstrate the effectiveness of analytical results.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Systems, Man and Cybernetics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2081-2086
Number of pages6
ISBN (Print)1424401003, 9781424401000
DOIs
StatePublished - 1 Jan 2006
Event2006 IEEE International Conference on Systems, Man and Cybernetics - Taipei, Taiwan
Duration: 8 Oct 200611 Oct 2006

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume3
ISSN (Print)1062-922X

Conference

Conference2006 IEEE International Conference on Systems, Man and Cybernetics
CountryTaiwan
CityTaipei
Period8/10/0611/10/06

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