Controlling unstable vehicular motions by exploiting linearized feedback law under delay-tolerance: stability, gain-scheduling, and validation

作     者：Lu, Hangyu Wu, Xiaodong Zhao, Sheng Yan, Liang Lu, Jianwei 

作者机构：Institute of Intelligent Vehicles Shanghai Jiao Tong University China Department of Applied Mechanics Faculty of Mechanical Engineering Budapest University of Technology and Economics Műegyetem rkp. 3. BudapestH-1111 Hungary State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University China School of Automotive and Transportation Engineering Hefei University of Technology China 

出 版 物：《Research Square》 (Research Square)

年 卷 期：2024年

核心收录：

主　　题：Advanced driver assistance systems 

摘      要：Automation of the transportation system inevitably encounters the difficulty of improving the passenger vehicle’s safety and intelligence. In the halfway of automation, the advanced driver assistance system (ADAS) plays a significant role in bridging that difference. A crucial part of ADAS is the vehicle stability control (VSC) system avoiding motion instability in nonlinear handling maneuvers. In this paper, focusing on the system nonlinearity generated in critical conditions and loop delays in the feedback processes, we present a delay-tolerant feedback structure of VSC that only captures the linearized properties alongside the maneuvers, where the maximal target-tracking performance is designed to be achieved. A nonlinear vehicular model is first established, and the open-loop nonlinear characteristics are investigated through equilibrium analysis and local linearization. Time delays originating from sampling and actuating control loops are generalized into the feedback control torque forming a delayed nonlinear system. A semi-discretized method is conducted that constructs the stability chart of the tunable control gains in the feedback law, where the concatenation of those charts finally offers a conservative delay-tolerant domain. Two methods for gain scheduling w.r.t maximal target-tracking performance are developed to suit for either real-time (RT) or offline applicability, respectively. The proposed methodology for stably tracking the dynamic motion targets in nonlinear conditions is further summarized and then validated within experimental data-based simulations, which indicates that a linearized control law can achieve high-performance VSC with transferability to other control loops with different delays. © 2024, CC BY.