Bounded-Input Bounded-Output Stability Analysis of Vehicles Using Worst-Case Input

摘要

In this paper, lateral/directional vehicle stability in a nonlinear maneuvering region is discussed from the viewpoint of input-output stability. The stability is evaluated in terms of the norm of vehicle output at the specified terminal time to bounded worst-case steering and braking inputs. A numerical optimization technique called a direct method is applied to find the worst-case inputs that maximize the vehicle output at the specified terminal time. The validity and usefulness of the proposed method is demonstrated through three case studies using a nonlinear eleven-degrees-of-freedom vehicle model. The results show that the proposed method makes possible the evaluation of the input-output vehicle stability in the nonlinear maneuvering region.