Vörös, Illés and Orosz, Gábor and Takács, Dénes (2023) On the global dynamics of path-following control of automated passenger vehicles. NONLINEAR DYNAMICS, 111. pp. 8235-8252. ISSN 0924-090X
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Abstract
The nonlinear dynamics of the path-following control of passenger cars is analyzed in this paper. The effect of specific modeling aspects, such as tire deformation, steering dynamics, feedback delay and controller saturation, is considered. Possible equilibrium points and singularities in the state space are uncovered and analyzed for different vehicle model and controller designs. The equilibrium of stable path following is then analyzed in greater detail: The domains of stabilizing control gains are presented in stability charts and the basin of attraction of the equilibrium along the stable domain is approximated with the help of numerical continuation. Unsafe zones of control gains are highlighted, where the stable equilibrium is surrounded by low-amplitude unstable limit cycles. Finally, it is shown how specific modifications of the control law can remove unwanted equilibrium points and increase the basin of attraction of stable path following, resulting in safer and more reliable control of the vehicle.
Item Type: | Article |
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Uncontrolled Keywords: | Automated vehicles, Path-following control, Bifurcations, Limit cycles, Time delay |
Subjects: | T Technology / alkalmazott, műszaki tudományok > T2 Technology (General) / műszaki tudományok általában T Technology / alkalmazott, műszaki tudományok > TE Highway engineering. Roads and pavements / közlekedésmérnöki, útépítési technika |
SWORD Depositor: | MTMT SWORD |
Depositing User: | MTMT SWORD |
Date Deposited: | 19 Sep 2023 12:29 |
Last Modified: | 19 Sep 2023 12:29 |
URI: | http://real.mtak.hu/id/eprint/173997 |
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