DocumentCode :
2509131
Title :
Robust stability of pilot-vehicle directional control
Author :
Habin, M.S.
Author_Institution :
Dept. of Mech. Eng., Bahrain Univ.
fYear :
1994
fDate :
24-26 Aug 1994
Firstpage :
141
Abstract :
The simulation of the pilot-vehicle directional control robustness is presented. The driver is represented by a lead-lag compensator. A two degrees of freedom vehicle model with uncertain parameters is used to describe the vehicle lateral motion. The uncertainty structure of the vehicle parameters are described as “nonlinear” “dependent”. An overbounding set is used to generate a super set of the interval polynomial families for the uncertainty of the vehicle model. The extreme points of the uncertainty bounding set are employed to select a distinguished subset of sixteen Kharitonov vehicles. The associated characteristic polynomial for the driver-vehicle system is obtained for each Kharitonov plant from which a robust stabilizing set of gains is generated provided that it is nonempty using a Routh table. Simulation results show the existence of a set of robust stabilizing gains at 60 Km/h vehicle forward speed but not at 90 Km/h
Keywords :
closed loop systems; polynomials; robust control; vehicles; Kharitonov plant; Kharitonov vehicles; characteristic polynomial; extreme points; interval polynomial families; lead-lag compensator; overbounding set; pilot-vehicle directional control; robust stability; two degrees of freedom vehicle model; uncertainty structur; vehicle lateral motion; Land vehicles; Polynomials; Robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
Type :
conf
DOI :
10.1109/CCA.1994.381235
Filename :
381235
Link To Document :
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