Title :
A static-output-feedback design procedure for robust emergency lateral control of a highway vehicle
Author :
Benton, Robert E., Jr. ; Smith, Dirk
Author_Institution :
U.S. Army RDECOM, Redstone Arsenal, AL, USA
fDate :
7/1/2005 12:00:00 AM
Abstract :
A linear matrix inequality (LMI)-based procedure for the design of robust static-output-feedback controllers is demonstrated on the problem of emergency lateral control of a highway vehicle with bounded time-varying uncertainties. A linear time-varying (LTV) tire model is used with a yaw-plane model of a highway vehicle to express the problem of emergency lateral control. The vehicle system is parameterized for variation in speed between (15 m/s and 30 m/s) and independent variation of front and rear effective lateral tire stiffnesses (between 30 kN/rad and 60 kN/rad) to form a polytope of linear systems. A stabilizing static-output-feedback controller is designed and its gains are reduced while guaranteeing robust stability.
Keywords :
control system synthesis; feedback; linear systems; position control; road vehicles; stability; time-varying systems; uncertain systems; 15 to 30 m/s; bounded time-varying uncertainties; linear matrix inequality; linear systems; linear time-varying tire model; road vehicle control; robust emergency lateral control; robust static-output-feedback control; yaw-plane model; Actuators; Automatic control; Control systems; Design methodology; Position measurement; Road transportation; Road vehicles; Robust control; Robust stability; Tires; Linear matrix inequalities (LMIs); output feedback; parameter space methods; road vehicle control; robustness; time-varying systems; uncertain systems;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2004.841681
