Nonlinear stability control of autonomous vehicles: a MIMO D2-IBC solution

Galluppi, Olga; Formentin, Simone; Novara, Carlo; Savaresi, Sergio M.

doi:10.1016/j.ifacol.2017.08.563

Cited by 6 publications

(6 citation statements)

References 10 publications

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“…The stability of traffic refers to properties of the automatic transport vehicles (ATV), which do not have a strict certainty in terminology, requirements, indicators and methods of assessment [11][12][13][14][15][16]. In practice, experimental characteristics that determine the stability of the ATV while driving have been used and in theory -direct and indirect indicators and their dependencies, among which the critical speed of traffic is the main one.…”

Section: Methodsmentioning

confidence: 99%

Stability of the Two-Link Metrobus

Sakhno¹,

Poliakov²,

Murovanyi³

et al. 2023

Komunikácie

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It has been shown that a perspective type of passenger transport is a metro bus, which can be both two-and three-link. Mathematical model of an autotrain has been developed for a two-link metrobus with both an uncontrolled and a controlled trailer, with the help of which it is established that the speed of the metro bus is 10 m/s, the angular speed of links racking, lateral acceleration, the angles of axle wheels' diversion while manoeuvring of "steering wheel jerk" "Shift" and "turn" have a fading nature of oscillation, which ensures the stability of its motion. At the same time, the value of lateral accelerations in the center of masses of metrobus separate links with an uncontrolled trailer at a speed of 15 m/s, while performing various manoeuvres do not exceed 0.45 g, according to this characteristics, such metrobus is stable, instead of a metrobus with a controlled trailer, which at this speed loses its stability. This should be considered when developing the advanced two-link metrobus of increased overall length (24 m).

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Section: Methodsmentioning

confidence: 99%

Stability of the Two-Link Metrobus

Sakhno¹,

Poliakov²,

Murovanyi³

et al. 2023

Komunikácie

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“…The simulation results are functions of kinematic and dynamic parameters that allow determining the parameters of maneuverability and stability. In [9], a multivariate extension of the D2-IBC (Data-Driven -Inversion Based Control) method for determining the the peak and inter-peak periods. The basis of such a transport consists of two-and three-link articulated buses, the stability of which is affected by a large number of factors.…”

Section: Analysis Of Recent Researchmentioning

confidence: 99%

Influence of the Technical Condition of the Running System of Articulated Buses on Stability of Their Straight-Line Motion

Sakhno¹,

Poliakov²,

Murovanyi³

et al. 2023

Communications

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Among the most important operational properties of articulated buses, ensuring their safety, it is necessary to note the course stability of traffic (CST), as often the loss of CST of a vehicle is accompanied by an accident. The parameters of the CST of a road train are closely related to the design of the running gear, in particular to the skew of the bus and trailer axles. The critical speed of rectilinear traffic was determined for different states of the articulated buses running system, which, in the absence of a bridge skew, was 32.1 m/s (116.6 km/h). The movement of the SSA is asymptotically stable. Under the action of perturbation, the stabilization time for lateral velocity is about 1 s and it increases to 2 s for the folding angle, but the amplitude of the backscatter of this angle is 10 times less than the initial perturbation, which indicates a stable asymptotic law of its change at small amplitude.

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“…It is shown that the developed method can be applied to analyze the stability of the motion, in particular, of passenger trains. In [14], a multivariate extension of the D2-IBC (Data Driven -Inversion Based Control) method is considered and its application to control the stability of the motion of the semi-trailer trucks is discussed in detail. In [15], a model of the semi-trailer truck with 31 freedom degrees was constructed using the AutoSum package and the directions of improving the semi-trailer truck stability are shown.…”

Section: Analysis Of Scientific Publicationsmentioning

confidence: 99%

“…Hence the following task: to establish the necessary and sufficient conditions for stability on the first approximation. According to Lyapunov's theorem on the stability of a steady mode motion by the first approximation [14], if all the characteristic equation roots of the first approximation system of the perturbed motion equations have negative real parts, then the undisturbed motion is stable and asymptotically stable, no matter what the higher orders in the differential equations of perturbed motion.…”

Section: Analysis Of Scientific Publicationsmentioning

confidence: 99%

The Stability Indicators of the Section Articulated Buses

Sakhno¹,

Gerlici²,

Poliakov³

et al. 2022

Komunikácie

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The mathematical model of a multi-section articulated bus has been improved in the article, which allowed to determine the stability indicators of the two and three-section articulated buses for the Metrobus system. The critical speed for the three-section articulated bus was 28.06 m/s and for the two-section articulated bus -30.89 m/s. Since the motion of multi-section articulated buses will be carried out on separate lanes with a speed of 25 -28 m/s, one can assume that the stability of rectilinear traffic of both two and three-section buses is provided. In non-stationary modes of motion with two-section articulated buses, the lateral speed of the first bus decreases by almost 8.5 % compared to the three-section and the second trailer-bus increases by almost 9.5 % compared to the three-section. In this case, the motion stability of multi-section articulated buses can be considered satisfactory, as the lateral accelerations in the center of mass of all sections do not exceed 0.45 g.

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Nonlinear stability control of autonomous vehicles: a MIMO D2-IBC solution

Cited by 6 publications

References 10 publications

Stability of the Two-Link Metrobus

Stability of the Two-Link Metrobus

Influence of the Technical Condition of the Running System of Articulated Buses on Stability of Their Straight-Line Motion

The Stability Indicators of the Section Articulated Buses

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