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Robust H∞-based vehicle steering control design

Hecker, Simon (2006) Robust H∞-based vehicle steering control design. In: Proceedings. IEEE International Conference on Control Applications, 2006-10-04 - 2006-10-06, München.

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Abstract

Two vehicle steering controllers to improve the yaw dynamics of a mid-size passenger car are designed based on robust H∞ synthesis techniques. The controllers fulfill the desired mixed-sensitivity performance specifications robustly with respect to large uncertainties in the vehicle model parameters for longitudinal speed, road adhesion, mass and moment of inertia. The parametric uncertainties are non-conservatively considered using a minmal-order linear fractional representation (LFR) for the uncertain vehicle model during control design. One approach is based on μ-synthesis, which garantees robust performance assuming the parameters are uncertain but constant. The second design is based on linear parameter varying (LPV) control design techniques, guaranteeing robust performance also in case of bounded variation rates of the longitudinal speed, which is an important property in real-life situations like μ-split braking. To allow real-time implementation, frequency weighted controller reduction techniques are applied to reduce the order and to eliminate high frequency dynamics of the controllers.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Robust H∞-based vehicle steering control design
Authors:
AuthorsInstitution or Email of Authors
Hecker, SimonUNSPECIFIED
Date:2006
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:-
Event Title:IEEE International Conference on Control Applications
Event Location:München
Event Type:international Conference
Event Dates:2006-10-04 - 2006-10-06
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Systems & Cabin
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: Monika Klauer
Deposited On:30 Oct 2008
Last Modified:12 Dec 2013 20:21

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