A Static-Output-Feedback Design Procedure for Robust Emergency Lateral Control of a Highway Vehicle

摘要

A linear matrix inequality (LMI)-based procedure for the design of robust static-output-feedback controllers is demonstrated on the problem of emergency lateral control of a highway vehicle with bounded time-varying uncertainties. A linear time-varying (LTV) tire model is used with a yaw-plane model of a highway vehicle to express the problem of emergency lateral control. The vehicle system is parameterized for variation in speed between (15 m/s and 30 m/s) and independent variation of front and rear effective lateral tire stiffnesses (between 30 kN/rad and 60 kN/rad) to form a polytope of linear systems. A stabilizing static-output-feedback controller is designed and its gains are reduced while guaranteeing robust stability.