Improvement of the LPV-based vehicle control design considering the polynomial invariant set analysis

The paper proposes a method for the improvement of the LPV (Linear Parameter-Varying) based control design for lateral vehicle dynamics. The novelty of the method is the combination of the LPV-based control design and the results of the analysis based on the Sum-of-Squares-based (SOS) polynomial controlled invariant set. In the LPV modeling of the lateral vehicle dynamics, the control design and the analysis of the polynomial model of the tire characteristics are also handled. The results of the analysis based on controlled invariant set are integrated in the selection of the design parameters of the LPV method. The proposed method improves performances of vehicle dynamics and handles the critical maneuvers caused by e.g. skidding car and high velocities. The proposed method is illustrated through a simulation example.