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.


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    Title :

    Linear parameter-varying control and H-infinity synthesis dedicated to lateral driving assistance


    Contributors:


    Publication date :

    2004-01-01


    Size :

    473931 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English