Vehicle control synthesis using phase portraits of planar dynamics

Phase portraits provide control system designers strong graphical insight into nonlinear system dynamics. These plots readily display vehicle stability properties and map equilibrium point locations and movement to changing parameters and system inputs. This paper extends the usage of phase portrait...

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Bibliographic Details
Published in:Vehicle system dynamics 2019-09, Vol.57 (9), p.1318-1337
Main Authors: Bobier-Tiu, Carrie G., Beal, Craig E., Kegelman, John C., Hindiyeh, Rami Y., Gerdes, J. Christian
Format: Article
Language:English
Subjects:
Algorithms
Bifurcation analysis
Braking
chassis control systems
control
Control algorithms
Control stability
Control systems design
Control theory
driver-vehicle systems
Dynamic stability
nonlinear control
Nonlinear dynamics
Nonlinear systems
Saddle points
Sideslip
Stability analysis
Steering
Surface stability
Synthesis
System dynamics
Yaw
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Description
Summary:Phase portraits provide control system designers strong graphical insight into nonlinear system dynamics. These plots readily display vehicle stability properties and map equilibrium point locations and movement to changing parameters and system inputs. This paper extends the usage of phase portraits in vehicle dynamics to control synthesis by illustrating the relationship between the boundaries of stable vehicle operation and the state derivative isoclines in the yaw rate-sideslip phase plane. Closed-loop phase portraits demonstrate the potential for augmenting a vehicle's open-loop dynamics through steering and braking. The paper concludes by applying phase portrait analysis to an envelope control algorithm for yaw stability and a sliding surface controller for stabilising a saddle point equilibrium in drifting.
ISSN:0042-3114
1744-5159
DOI:10.1080/00423114.2018.1502456