Robust controller design of four wheel steering systems using μ synthesis techniques

Author

Gao, Xiaoming ; McVey, Brian D. ; Tokar, R.L.

Author_Institution

Div. of Mater. Sci. & Technol., Los Alamos Nat. Lab., NM, USA

Volume

1

fYear

1995

fDate

13-15 Dec 1995

Firstpage

875

Abstract

In this paper, a linearized four wheel steering (4WS) system model is deduced and then modified into a form which is appropriate for applying Matlab μ Toolbox to design robust controller. Several important topics are discussed in detail, such as: 1) how to make system set-up match Matlab μ Toolbox requirement, 2) how to select weights based on plant´s uncertainty, 3) how to solve controller discretization problem, and 4) how to adjust the system so that the conditions necessary for using a state-space formula to solve H_∞ optimal (suboptimal) problem and performing the Matlab μ Toolbox D-K iteration procedure are satisfied. Finally simulation results of robust controller and a PID controller are compared

Keywords

H^∞ control; control system CAD; control system synthesis; feedback; iterative methods; position control; road vehicles; robust control; μ synthesis; D-K iteration; H_∞ optimal; Matlab μ Toolbox; PID controller; controller discretization; four wheel steering systems; model; robust controller; state-space; Bicycles; Books; Control system synthesis; Mathematical model; Postal services; Robust control; Robustness; Steering systems; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1995., Proceedings of the 34th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

0-7803-2685-7

Type

conf

DOI

10.1109/CDC.1995.479094

Filename

479094