Robust Stability and Control of Multi-Body Ground Vehicles with Uncertain Dynamics and Failures

摘要

The main objective of the proposed research is to improve various stability and handling qualities (such as Roll Over stability, Lane Change maneuver stability etc) of military, off road, unmanned multi-body ground vehicles within as wide operating envelope as possible under the presence of uncertainty in vehicle model parameters as well as under various sensor, actuator and component faults. Armed with important and award winning theoretical tools in linear and nonlinear uncertain systems theory developed by the PI, in this research project, we attempt to design advanced and sophisticated control systems to improve the roll over stability and other performance objectives of multi-body ground vehicles over as wide range of speed and terrain characteristics as possible and to improve the stability and performance characteristics of these vehicles under various faults. The analysis and design algorithms resulting from these sound theoretical bases are then applied to multi-body ground vehicle stability and control problem with military vehicle application.