Considers the synthesis and analysis of a robust controller for autonomous lateral control of a vehicle. The controller is designed using the LMI-based design approach of a gain scheduled H/sub /spl infin// controller. System modeling for gain scheduling and controller synthesis steps are detailed. Numerical simulations which include actuator constraints are conducted on a heavy car model. Results are given for various operating conditions and maneuvers, they show that the controller interpolation between the vertex controllers allows good scheduling.
Lateral vehicle control using gain scheduled H/sub /spl infin// controllers
01.01.1997
466800 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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