Citation

Amemiya K, Horiuchi S. Rev. Automot. Eng. 2005; 26(2): 177-184.

Copyright

(Copyright © 2005, Society of Automotive Engineers of Japan)

DOI

unavailable

PMID

unavailable

Abstract

There is a notion of stability for nonlinear systems called a Bounded-Input Bounded-Output (BIBO) stability. The BIBO stability requires that the system output will remain bounded for all time for any bounded input. This paper proposes a method to analyze the BIBO stability of vehicles using a worst-case evaluation methodology, which is proposed to evaluate the performance of dynamic systems under extreme conditions. In the proposed method, the worst-case steering and braking inputs that make the vehicle the most unstable are identified within the specified upper and lower limits of the inputs, and then the BIBO stability of vehicles is evaluated by means of the norm of vehicle output at the specified terminal time. 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.