Robust control and μ-analysis with application to lateral driving assistance

This paper presents the design of a H_∞ controller for lateral driving assistance and a robust stability analysis with respect to uncertainties such as road adhesion, longitudinal velocity and driver dynamics. Using linear models, the synthesis uses a 2 goal-2 measurement controller which is integrated in the lateral driving assistance strategy. The assistance adds a steering torque to that of the driver in order to enhance stability margins. Simulation results presented demonstrate the effectiveness of the solutions. Lane keeping maneuvers are made more accurate while external disturbances are well rejected.