Title :
Estimate based H∞ compensator: Application to robust automatic steering
Author :
Koenig, Damien ; Mammar, Said
Author_Institution :
INPG, Lab. d´Autom. de Grenoble, UJF, St. Martin d´Hères, France
Abstract :
Using the results of the linear sub-state estimation and of the linear matrix inequality (LMI), we develop a Luenberger low - order unknown input observer/controller, which gives full unbiased state estimation and H∞ disturbance attenuation. This method is designed in a nonstandard case: an output-disturbance free system, it´s based on the bounded real lemma, and the resultant design algorithms are two Riccati inequalities.
Keywords :
H∞ control; compensation; control system synthesis; linear matrix inequalities; linear systems; observers; road vehicles; robust control; state estimation; steering systems; H∞ disturbance attenuation; LMI; Luenberger low-order unknown input controller; Luenberger low-order unknown input observer; Riccati inequality; bounded real lemma; estimate based H∞ compensator; linear matrix inequality; linear substate estimation; output-disturbance free system; robust automatic steering; Equations; Linear matrix inequalities; Mathematical model; Observers; Roads; Vehicle dynamics; Vehicles; Observer design; Riccati equation; matrix inequality; nonstandard H∞ control problem;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
