Analysis and control of the vehicle roll dynamics using Sum Of Squares approach

These proposed reference generators can be paired with varying suspension systems — static reference could be achieved using semi-active suspensions, while the dynamic one is integrated into advanced active suspension systems, offering heightened adaptability and performance.} To address the roll control objectives, this paper proposes a novel Sum Of Squares (SOS) integral polynomial tracking control. The proposed controller satisfies control bounds and considers control constraints during the design phase.

The effectiveness and robustness of the proposed control scheme are evaluated through numerical simulations using a full vehicle nonlinear model in MATLAB/Simulink. The results of these simulations are compared to super-twisting sliding mode and Lyapunov-based controllers.