Abstract
This paper presents an automatic control synthesis methodology for robust automatic steering. The control law is based on mixed H 2 /H ∞ LMI formulation of the design objectives. For the purpose of robust control synthesis, the vehicle is described by a polytopic system with four vertex which includes the system parameters variations. A state feedback is firstly designed and then completed with a PI observer for state estimation. The efficiency of the control law is illustrated by various simulation tests such as lane keeping and lane change.
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