Discrete robust switched H∞ tracking state feedback controllers for lateral vehicle control

被引：10

作者：

Lghani, Menhour ^{[1
]}

Damien, Koenig ^{[2
]}

Brigitte, d'Andrea-Novel ^{[3
]}

机构：

[1] Univ Reims, F-10000 Troyes, France

[2] UJF, Lab Grenoble Images Parole Signal & Automat, UMR, CNRS INPG, F-38402 St Martin Dheres, France

[3] PSL Res Univ, Mines ParisTech, Ctr Robot, F-75272 Paris 06, France

来源：

CONTROL ENGINEERING PRACTICE | 2015年 / 42卷

关键词：

Switched and uncertain linear systems; Tracking; Stability and stabilization; H-infinity-filtering; Linear matrix inequality (LMI); Vehicle dynamics application; LYAPUNOV FUNCTION; SYSTEMS; STABILITY; DESIGN; STABILIZABILITY;

D O I：

10.1016/j.conengprac.2015.05.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers the robust stability, stabilization and L-2-gain analysis of switched linear systems in the simultaneous presence of uncertain and exogenous disturbances inside subsystems. The control synthesis is performed by means of linear matrix inequalities (LMIs). The effectiveness of the proposed methods is tested and shown through lateral vehicle control application. Indeed, the simulation tests are conducted using experimental data previously recorded on a race track by an instrumented vehicle during several trials. Moreover, the stability of controlled and uncontrolled vehicle models is established by means of sideslip phase-plane criteria. (C) 2015 Elsevier Ltd. All rights reserved.

引用

页码：50 / 59

页数：10

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