Static output multiple controller for vehicle lateral dynamic control systems: An LMI approach

In this paper, the robust static output feedback control for Four Wheels steering (4WS) vehicle dynamics is studied via an uncertain multiple model when the road adhesion conditions. First, a nonlinear model of cornering forces based on multiple model approach is developed and used to represent nonlinear lateral dynamic of the vehicle. Next, based on the uncertain multiple model of the 4WS Vehicle a multiple controller is designed. The closed loop stability conditions of a vehicle with the controller are given in terms of Linear Matrix Inequality (LMI) problem which can be solved very efficiently using the convex optimization techniques. The numerical simulation of the vehicle handling with the use of the developed controller has been carried out. The simulation results obtained indicate that considerable improvements in the vehicle handling can be achieved whenever the vehicle is governed by the proposed fuzzy controller.