A robust stabilization method for a saturated LPV system: application to the lateral dynamics of vehicles

摘要

This paper deals with the active control with steering angle saturation constraint in vehicle to improve the safety and its stability. The reference tracking problem is addressed by minimizing both the lateral displacement and velocity errors. The vehicle dynamics is represented by a saturated input LPV (Linear Parameter Varying) system, affected by disturbances/uncertainties to be rejected. The corresponding state-space model considers both polytopic and norm-bounded uncertainties. It is aimed to compute a static output feedback gain, so as to place the set of all eigenvalues of the uncertain closed-loop state matrix A_C in a disc, denoted by D_D, while minimizing the effect of the disturbances on the system. This paper proposes an original technique, based on the resolution of LMI, to compute the gain matrix of the control law which can be structured as the parameters of a robust PID controller. In order to highlight the performance of the proposed control algorithm, numerical simulations are performed.