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

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. (a) Papers published in peer-reviewed journals (N/A for none) R.K.Yedavalli: “ Robust Control Design for Linear Systems using an Ecological Sign Stability Approach”, AIAA Journal of Guidance, Control and Dynamics, Vol 32, # 1, Jan-Feb 2009, pp 348-352 R.K.Yedavalli and N. Devarakonda: “ Sign Stability of Ecology and its use in Control Design with Aerospace Applications”, AIAA Journal of Guidance, Control and Dynamics, Vol 33, # 2, Mar-April 2010, pp 333-346 List of papers submitted or published that acknowledge ARO support during this reporting period. List the papers, including journal references, in the following categories: (b) Papers published in non-peer-reviewed journals or in conference proceedings (N/A for none) 2.00 Number of Papers published in peer-reviewed journals: Number of Papers published in non peer-reviewed journals: R.K.Yedavalli: “Robust Control Design for Roll Over Stability of Off Road, Multi-Body Ground Vehicles with Uncertain Dynamics” Paper presented at the 20th IAVSD Symposium to be held in University of California, Berkeley, Aug 13-17, 2007 (c) Presentations 0.00 Number of Presentations: 1.00 Non Peer-Reviewed Conference Proceeding publications (other than abstracts): Number of Non Peer-Reviewed Conference Proceeding publications (other than abstracts): 0 Peer-Reviewed Conference Proceeding publications (other than abstracts): R.K.Yedavalli and H.H.Huang," Rollover Prevention of Multi-Body Ground Vehicles Extending LQR Design for Control Coupled Output Regulation", Proceedings of the ASME Dynamic Systems and Control Conference, Boston, MA, Sept 2010 H.H.Huang and R.K.Yedavalli,"Active Roll Control for Rollover Prevention of Heavy Articulated Vehicles with Multiple Rollover Index Minimization", Proceedings of the ASME Dynamic Systems and Control Conference, Boston, MA, Sept 2010 R.K. Yedavalli,”Robust Stability of Linear Interval Parameter Matrix Family Problem Revisited with Accurate Representation and Solution”, Proceedings of the American Control Conference, June 2009, St.Louis, MO, pp 3710-3717 R.K. Yedavalli, and N. Devarakonda ,”Qualitative Principles of Ecology and their Implications in Quantitative Engineering Systems”, Proceedings of the ASME Dynamic Systems and Control Conference, Hollywood, CA, Sept 2009, DSCC2009-2621 R.K. Yedavalli, and H.H.Huang ,”Controller Design for Multi-Body Ground Vehicle Rollover Prevention using Modified LQR Framework”, Proceedings of the ASME Dynamic Systems and Control Conference, Ann Arbor, MI, October 2008, DSCC 2008-2230 R.K. Yedavalli, “A Necessary and Sufficient Vertex Solution for Checking Robust Stability of Interval Parameter Matrices” Proceedings of the AIAA Guidance, Navigation, and Control Conference, Honolulu, HI, August 2008, paper # AIAA 2008-7007 R.K.Yedavalli and H.H. Huang,"Extension to Linear Quadratic Regulator Design Method for Control Coupled Output Regulation in Linear Systems", Paper under review for AIAA Journal of Guidance, Control and Dynamics, April 2010 H.H. Huang,"Controller Selection for State Derivative Induced Output Regulation in Linear Systems", Paper under review for the ASME Journal of Dynamic Systems, Measurement and Control, June 2010 (d) Manuscripts Number of Peer-Reviewed Conference Proceeding publications (other than abstracts): 6 Number of Manuscripts: 2.00