Analysis and Control of the Vehicle Roll Dynamics Using Sum of Squares Polynomial Approach  

作　　者：IBEN AMMAR Imen DOUMIATI Moustapha TALJ Reine CHOKOR Abbas MACHMOUM Mohamed 

机构地区：[1]ESEO-IREENA,10 Bd Jeanneteau-CS 90717,Angers,49107,France [2]Institut de Recherche en Energie Electrique de Nantes Atlantique,IREENA UR 4642,37 Boulevard de l'Universite-BP406,Saint-Nazaire,F-44602,France [3]Sorbonne Universités,Universite de Technologie de Compiegne,CNRS,Heudiasyc UMR 7253,CS 60319,60203 Compiegne,France [4]Continental,17 Rue Paulin Talabot,31100 Toulouse,France

出　　处：《Journal of Systems Science & Complexity》2024年第6期2318-2346,共29页系统科学与复杂性学报（英文版）

基　　金：supported by Project ANR V3EA(Véhicule Electrique,Econome en Energie et Autonome)under Grant No.V3EA-ANR-21-CE22-0024。

摘　　要：The safety of vehicle travel relies on good stability performance,making vehicle motion control a vital technology in vehicles.This paper focuses on investigating the impact of roll control on vehicle performance,particularly in terms of avoiding rollover and ensuring lateral stability.By introducing a feedback roll moment,the roll motion can be effectively controlled.The paper considers two roll reference generators:A static one aimed at zero roll,and a dynamic one based on the vehicle's lateral acceleration.The static roll reference generator enhances stability by employing a fixed reference,particularly beneficial during routine driving conditions.In contrast,the dynamic roll reference generator continually adapts the roll angle reference in response to real-time vehicle dynamics and driving conditions.These proposed reference generators can be paired with varying suspension systems—Static reference could be achieved using semi-active suspensions,while the dynamic one is integrated into advanced active suspension systems,offering heightened adaptability and performance.To address the roll control objectives,this paper proposes a novel sum of squares(SOS)integral polynomial tracking control.The proposed controller satisfies control bounds and considers control constraints during the design phase.The effectiveness and robustness of the proposed control scheme are evaluated through numerical simulations using a full vehicle nonlinear model in Matlab/Simulink.The results of these simulations are compared to super-twisting sliding mode and Lyapunov-based controllers.

关 键 词：Active suspensions lateral stability polynomial control rollover avoidance SOS approach 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]