Controlling unstable vehicular motions by exploiting linearized feedback law under delay-tolerance: stability, gain-scheduling, and validation

Controlling unstable vehicular motions by exploiting linearized feedback law under delay-tolerance: stability, gain-scheduling, and validation | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Controlling unstable vehicular motions by exploiting linearized feedback law under delay-tolerance: stability, gain-scheduling, and validation HANGYU LU, Xiaodong Wu, Sheng Zhao, Liang Yan, Jianwei Lu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-5457755/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Automation of the transportation system inevitably encounters the difficulty of improving the passenger vehicle’s safety and intelligence. In the halfway of automation, the advanced driver assistance system (ADAS) plays a significant role in bridging that difference. A crucial part of ADAS is the vehicle stability control (VSC) system avoiding motion instability in nonlinear handling maneuvers. In this paper, focusing on the system nonlinearity generated in critical conditions and loop delays in the feedback processes, we present a delay-tolerant feedback structure of VSC that only captures the linearized properties alongside the maneuvers, where the maximal target-tracking performance is designed to be achieved. A nonlinear vehicular model is first established, and the open-loop nonlinear characteristics are investigated through equilibrium analysis and local linearization. Time delays originating from sampling and actuating control loops are generalized into the feedback control torque forming a delayed nonlinear system. A semi-discretized method is conducted that constructs the stability chart of the tunable control gains in the feedback law, where the concatenation of those charts finally offers a conservative delay-tolerant domain. Two methods for gain scheduling w.r.t maximal target-tracking performance are developed to suit for either real-time (RT) or offline applicability, respectively. The proposed methodology for stably tracking the dynamic motion targets in nonlinear conditions is further summarized and then validated within experimental data-based simulations, which indicates that a linearized control law can achieve high-performance VSC with transferability to other control loops with different delays. Mechanical Engineering Time delay vehicle stability control system stability closed-loop control gain scheduling Full Text Additional Declarations The authors declare no competing interests. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-5457755","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":378408427,"identity":"87591fcb-aee5-493e-84f1-24ad91be501c","order_by":0,"name":"HANGYU 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In the halfway of automation, the advanced driver assistance system (ADAS) plays a significant role in bridging that difference. A crucial part of ADAS is the vehicle stability control (VSC) system avoiding motion instability in nonlinear handling maneuvers. In this paper, focusing on the system nonlinearity generated in critical conditions and loop delays in the feedback processes, we present\u003c/p\u003e\n\u003cp\u003ea delay-tolerant feedback structure of VSC that only captures the linearized properties alongside the maneuvers, where the maximal target-tracking performance is\u003c/p\u003e\n\u003cp\u003edesigned to be achieved. A nonlinear vehicular model is first established, and the open-loop nonlinear characteristics are investigated through equilibrium analysis and local linearization. Time delays originating from sampling and actuating control loops are generalized\u003c/p\u003e\n\u003cp\u003einto the feedback control torque forming a delayed nonlinear system. A semi-discretized method is conducted that constructs the stability chart of the tunable control\u003c/p\u003e\n\u003cp\u003egains in the feedback law, where the concatenation of those charts finally offers a conservative delay-tolerant domain. Two methods for gain scheduling w.r.t maximal target-tracking performance are developed to suit for either real-time (RT) or offline applicability, respectively. 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