Multi-objective control synthesis: an application to 4WS passenger vehicles
- Authors
- You, S.S.; Chai, Y.H.
- Issue Date
- Jun-1999
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Citation
- MECHATRONICS, v.9, no.4, pp 363 - 390
- Pages
- 28
- Journal Title
- MECHATRONICS
- Volume
- 9
- Number
- 4
- Start Page
- 363
- End Page
- 390
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/25405
- DOI
- 10.1016/S0957-4158(98)00056-7
- ISSN
- 0957-4158
- Abstract
- The vehicle dynamics and control play an important role in an automated highway system for passenger cars. This study addresses the problem of designing active controllers for four-wheel-steering (4WS) vehicles. We first obtain a set of linear maneuvering equations representing the four-wheel steering motions and independent wheel torques for lateral/directional plus roll dynamics. We then formulate simultaneous H-2 and H-infinity (sub)-optimal controls with a desired pole assignment via linear matrix inequalities (LMIs). The steering angles are actively controlled by steering wheel commands through the actuator mechanisms for the lateral/directional and roll motions. Further the wheel power and braking are directly controlled by independent torques. Numerical simulations are performed on a complex vehicle model in order to evaluate the vehicle performance (noise and disturbance attenuation), stability, and robustness under a given class of uncertainty. Finally, the presented autopilot controller provides greater maneuverability and improved directional stability for passenger vehicles. (C) 1999 Elsevier Science Ltd. All rights reserved.
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