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.
Item URL in elib: | https://elib.dlr.de/45009/ | ||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||
Title: | Robust H∞-based vehicle steering control design | ||||||||
Authors: |
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Date: | 2006 | ||||||||
Journal or Publication Title: | Proceedings | ||||||||
Refereed publication: | Yes | ||||||||
Open Access: | No | ||||||||
Gold Open Access: | No | ||||||||
In SCOPUS: | No | ||||||||
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 Start Date: | 4 October 2006 | ||||||||
Event End Date: | 6 October 2006 | ||||||||
Organizer: | IEEE | ||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||
HGF - Program: | Aeronautics | ||||||||
HGF - Program Themes: | Aircraft Research (old) | ||||||||
DLR - Research area: | Aeronautics | ||||||||
DLR - Program: | L AR - Aircraft Research | ||||||||
DLR - Research theme (Project): | L - Systems & Cabin (old) | ||||||||
Location: | Oberpfaffenhofen | ||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > System Dynamics and Control (former Control Design Engineering) | ||||||||
Deposited By: | Klauer, Monika | ||||||||
Deposited On: | 30 Oct 2008 | ||||||||
Last Modified: | 24 Apr 2024 19:06 |
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