Title: Advanced control and stability of autonomous road vehicles. Part II: Practical stability of road vehicles

Authors: Miomir K. Vukobratovic, Aleksandar D. Rodic

Addresses: Robotics Department, Mihailo Pupin Institute, P.O. Box 15, 11000, Belgrade, Volgina 15, Yugoslavia. Robotics Department, Mihailo Pupin Institute, P.O. Box 15, 11000, Belgrade, Volgina 15, Yugoslavia

Abstract: The paper describes for the first time the conditions for practical stability of the road vehicle as a complex system in interaction with the dynamic environment. Stability analysis is based on knowledge of the road vehicle model dynamics as well as the dynamic environment model, developed specially for that purpose and for the synthesis of the dynamic control laws applied in the system automatic control. The stability conditions for two dynamic control laws, the pure position control and the combined position/force control low, were derived. In the chosen example, the procedure for determining control parameters was described using the vehicle practical stability test. In addition, characteristic simulation results, obtained by applying the proposed dynamic position/force control law, were presented for the case of a stable closed-loop system with variable system parameters. Finally, fundamental characteristics of the novel approach are pointed out and possible research directions outlined.

Keywords: dynamic control; practical stability; vehicle integrated dynamics.

DOI: 10.1504/IJCAT.2002.000300

International Journal of Computer Applications in Technology, 2002 Vol.15 No.6, pp.248-263

Published online: 15 Jul 2003 *

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