Application of two-degree-of-freedom H/sub ∞/ optimization to robust lateral vehicle control

Abstract

In this paper, the problem of automatic vehicle steering is addressed using a two degrees of freedom loop shaping procedure. The controller is split into two parts. The closed loop part achieves the robust stability requirement while the prefilter part processes the reference signal and is designed to achieve model matching. The whole synthesis procedure is emphasized and the controller is tested then in various situations with several system parameter variations.