The Steering Control of Vehicle Dynamics via a Lyapunov Redesign Approach

Abstract

In this paper, Lyapunov redesign method is proposed to control the steering of vehicle. It was observed in Liaw and Chung (2006) that the vehicle dynamics would exhibit the saddle-node bifurcation phenomenon at some front wheel steering angle. This might result in spin and/or instability for vehicle system. Based on the assumption of constant driving velocity, a Lyapunov redesign control law was proposed to stabilize the system dynamics at the bifurcation point for guaranteeing system stability after the appearance of stall. Simulation results for an example model of vehicle dynamics were presented to illustrate the success of the proposed design.