Design and analysis of robust state constraint control for direct yaw moment control system

ABSTRACT

This paper is concerned with the problem of robust constraint control for direct yaw moment control (DYC) system with sideslip angle. A two degree of freedom vehicle dynamics model is considered here. The tangent barrier Lyapunov function (BLFs-Tan) is embedded into the systematic controller design for handling sideslip angle constraint problems. A robust nonlinear constraint control scheme based on BLFs-Tan is proposed not only to track the reference trajectory but also to guarantee no violation on the sideslip angle constraint and refrain from vehicle instability. Simulation results indicate that the proposed scheme can guarantee there will be no violation on sideslip angle constraints and avoid vehicle instability.

KEYWORDS:

• Yaw motion stability
• direct yaw moment control
• state constraint control
• tangent barrier Lyapunov function
• vehicle stability analysis

Conflicts of interest

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work is supported by the National Natural Science Foundation of China [51875255, 51775247, U20A20333], Six Talent Peaks Project of Jiangsu Province [2018-TD-GDZB-022], Jiangsu Province road transport application Key Laboratory Fund [BM20082061506], Research start fund of Jiangsu University [15JDG125]. The authors would like to thank the anonymous reviewers for their valuable comments and the editors for improving the quality of this article.

Notes on contributors

Youguo He

Dr Youguo He was born in Hu Lu Dao, Liaoning, CHINA in 1977. He received his B.Sc. degree from Department of Electronic Engineering, Liaoning University of Technology, Jinzhou, China in 2000, and his M.Sc. and Ph.D. degrees from the School of Information Science and Engineering, Northeastern University, Shenyang, China in 2005 and 2008, respectively.In 2008, he joined the Faculty of Information Engineering, Shenyang University as a lecturer. In 2015, he joined the Automotive Engineering Research Institute in Jiangsu University. Associate professor title. His research interests are in intelligent automotive and vehicle control system.

Ekponoimo King Ibritam

Dr Ekponoimo King Ibritamwas born in Nigerian in 1987. He received his B.Sc. degree from School of Information Engineering, Shanyang University, Shenyang, China in 2017.In 2017, he entered the Automotive Engineering Research Institute in Jiangsu University to study for his master's degree in vehicle engineering. His research interests are in vehicle dynamic system modeling and constraint control.

Yingfeng Cai

Dr Yingfeng Caiwas born in Rugao, Jiangsu, China in 1985. She received her B.S., M.S. andPh.D. degree all from the School of Instrument Science and Engineering, Southeast University, Nanjing, China, respectively.In 2013, she joined theAutomotive Engineering Research Institute in Jiangsu University. Professor title. Her research interests are in intelligent transportation system and intelligent automotive.

Chaochun Yuan

Dr Chaochun Yuan was born in Xu Zhou, Jiangsu, CHINA in 1978. He received his B.Sc. degree from Department of Packaging Engineering, Jiangsu Polytechnic University, Zhenjiang, China in 2000, and Ph.D. degree from the School of Agricultural Mechanization Engineering, Jiangsu University, Zhenjiang, China in 2007.In 2008, he joined the Automotive Engineering Research Institute in Jiangsu University. Professor title. His research interests are in intelligent automotive and vehicle active safety.