Robust non-linear controllers for automotive vehicle handling

The main goal of this paper is to compute high performance controllers that will allow an automotive vehicle to follow longitudinal speed and yaw rate references. Three non-linear control techniques are explored: ℋ_∞ Quasi-LPV, non-linear feedback linearization with ℋ_∞ “outer” loop and non-linear feedback linearization with two optimal PIs “outer” loop. MIMO stability margins and most significant singular values plots are computed. Controllers are then discretized for implementation within an advanced non-linear simulator jointly developed by the INRETS (French institute of safe transportation research) and RENAULT. Time domain responses in closed-loop, obtained in this environment, validate the proposed control schemes.