Title :
An LMI approach to robust vehicle steering controller design
Author :
Li, Li ; Wang, Fei-Yue ; Zhou, Qunzhi
Author_Institution :
Dept. of Syst. & Ind. Eng., Arizona Univ., Tucson, AZ, USA
Abstract :
Being parallel to frequency domain robust steering controller designs, time domain approaches attract considerable interest in the last decade. Based on previous research results, a synthesized time design framework is proposed in this paper. The design task is constructed as a multi-objective optimization problem which simultaneously considers system stabilization, disturbance rejection, actuator saturation and time delay. A mixed L1/H∞ robust controller is finally obtained by solving a set of linear matrix equalities (LMI) that guarantee driving performance requirements. Simulations show the effectiveness of the proposed design method.
Keywords :
H∞ control; control nonlinearities; control system synthesis; delays; linear matrix inequalities; road vehicles; robust control; steering systems; H∞ robust control; L1 robust control; LMI; actuator saturation; disturbance rejection; linear matrix inequalities; multiobjective optimization; robust vehicle steering controller design; synthesized time design; system stabilization; time delay; Actuators; Automated highways; Automatic control; Design methodology; Frequency domain analysis; Intelligent vehicles; Motion control; Road accidents; Robust control; Vehicle dynamics;
Conference_Titel :
Intelligent Transportation Systems, 2005. Proceedings. 2005 IEEE
Print_ISBN :
0-7803-9215-9
DOI :
10.1109/ITSC.2005.1520075