This paper presents the design of a linear parameter-varying controller with guaranteed H/sub /spl infin// performance for lateral driving assistance. The considered uncertainties consist in road adhesion, the mass of the vehicle and driver dynamics. It used to add a steering torque to that of the driver in order to improve lane keeping and yaw dynamic under external disturbances (such as lateral wind) for a varying longitudinal velocity /spl nu/. The controller, thus, changes with the operating parameter /spl nu/ so that it is gain-scheduled.
Linear parameter-varying control and H-infinity synthesis dedicated to lateral driving assistance
01.01.2004
473931 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
British Library Conference Proceedings | 2004
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