Title :
Robust controller design of four wheel steering systems using μ synthesis techniques
Author :
Gao, Xiaoming ; McVey, Brian D. ; Tokar, R.L.
Author_Institution :
Div. of Mater. Sci. & Technol., Los Alamos Nat. Lab., NM, USA
Abstract :
In this paper, a linearized four wheel steering (4WS) system model is deduced and then modified into a form which is appropriate for applying Matlab μ Toolbox to design robust controller. Several important topics are discussed in detail, such as: 1) how to make system set-up match Matlab μ Toolbox requirement, 2) how to select weights based on plant´s uncertainty, 3) how to solve controller discretization problem, and 4) how to adjust the system so that the conditions necessary for using a state-space formula to solve H∞ optimal (suboptimal) problem and performing the Matlab μ Toolbox D-K iteration procedure are satisfied. Finally simulation results of robust controller and a PID controller are compared
Keywords :
H∞ control; control system CAD; control system synthesis; feedback; iterative methods; position control; road vehicles; robust control; μ synthesis; D-K iteration; H∞ optimal; Matlab μ Toolbox; PID controller; controller discretization; four wheel steering systems; model; robust controller; state-space; Bicycles; Books; Control system synthesis; Mathematical model; Postal services; Robust control; Robustness; Steering systems; Vehicles; Wheels;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479094
