Robust guaranteed cost control for BTT vehicle based on LMI

BTT(Bank-to-Turn) vehicle is a kind of typical nonlinear system which has parametric uncertainty and heavy exogenous disturbance. This paper presents a partial linearization method use of robust guaranteed cost control techniques for the design and analysis of BTT vehicle control laws to make the model closer to the actual system. Considering the practical model of BTT vehicle, we employed partial linearization rather than complete linearization in system modeling, in order to prevent the system errors caused by low accuracy in complete linearization. Under the circumstance of satisfying Lipschitz conditions, Lyapunov function was employed to get the sufficient condition for the robust control law of the BTT vehicle system to exist, and transformed into a feasible solution with linear matrix inequalities method. The numerical simulation results show the algorithm can makes up the characteristic distortion of nonlinear system for excessive simplification model, so that the designed control law becomes more reasonable and effective.