An LMI approach to robust vehicle steering controller design

Being parallel to frequency domain robust steering controller designs, time domain approaches attract considerable interest in the last decade. Based on previous research results, a synthesized time design framework is proposed in this paper. The design task is constructed as a multi-objective optimization problem which simultaneously considers system stabilization, disturbance rejection, actuator saturation and time delay. A mixed L₁/H_∞ robust controller is finally obtained by solving a set of linear matrix equalities (LMI) that guarantee driving performance requirements. Simulations show the effectiveness of the proposed design method.