Title :
Robust stabilization of the vehicle dynamics by gain-scheduled H ∞ control
Author :
Ono, Eiichi ; Hosoe, Shigeyuki ; Asano, Katsuhiro ; Sugai, Masaru ; Doi, Shunichi
Author_Institution :
Toyota Central Res. & Dev. Labs. Inc., Aichi, Japan
Abstract :
Controller synthesis for protecting the vehicle from spin is described as a robust stabilization problem against perturbations of rear cornering force. The controller is designed by gain-scheduled H∞ control theory so that the closed-loop system satisfies an H∞ norm condition guaranteeing the stability of the vehicle. The controller adjusts the braking force distribution to the right and the left wheels. The result has been tested by executing an experiment. The experimental results showed that the designed controller can robustly stabilize the vehicle and protects it from spin in the presence of large perturbations of rear cornering force
Keywords :
H∞ control; closed loop systems; control system synthesis; force control; road vehicles; robust control; H∞ norm condition; braking force distribution; gain-scheduled H∞ control; rear cornering force; robust stabilization; vehicle dynamics; Control system synthesis; Control systems; Control theory; Force control; Protection; Robust control; Robustness; Stability; Vehicle dynamics; Vehicles;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.801224
