Robust and failure tolerant control of lateral vehicle motion usingstochastic robustness

摘要

This paper applies stochastic robustness analysis and design(SRAD) to robust, failure tolerant lateral control of a twodegree-of-freedom, four-wheel steering (4WS) vehicle. The analysiscomponent of SRAD uses statistical descriptions of uncertainty todetermine the probability of not meeting control system designobjectives. In the design component, control laws that minimize astochastic cost function composed of these probabilities are found bygenetic search. Specifications for the 4WS vehicle includestability/performance robustness requirements under uncertain load androad conditions, and tolerance to front or rear steering loss. Theimportance of minimizing performance/robustness trade-offs throughcareful description of parameter uncertainties and design objectives isstressed, and improving robustness through structured compensation isdemonstrated