This thesis presents the application of H∞, μ and linear parametric varying controller synthesis for collision avoidance system using uncertain vehicle and environmental dynamics. The system will adapt to the changing road scenarios that will allow the vehicle to avoid obstacles and prevent roll over circumvention by properly applying brakes or making a safe lane change. Robust performance is achieved by using the dynamical characteristics of the collision avoidance system for varying speeds which is governed by physical laws in term of mathematical modeling and significant uncertainties. The uncertain block diagram was analyzed for corresponding state space representation and was utilized to develop the linear fractional transformation framework of the robust controller synthesis with proper uncertainty and performance. The numerical simulation results demonstrate the viability of the controller in term of stability and performance for uncertain vehicle dynamics and changing environment.
Lateral speed control for vehicles with uncertain dynamics
Sonstige
Elektronische Ressource
Englisch
DDC: | 629 |
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