Robust H∞ Output Feedback Control for Vehicle Lateral Motion System with Quantization and Data Dropouts

Abstract

This study examines H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> static output feedback control problem for discrete-time vehicle lateral dynamic system with quantization error and data packet dropout. The quadrilateral polytope model representes vehicle lateral dynamic system. The number of linear matrix inequalities is reduced by the polytope method based on the longitudinal velocity time varying parameters set. Additionally, this paper models data packet dropout by the Bernoulli random distribution approach, and quantizes the measured output signal by a dynamic quantizer. Such that the quantization error and data packet dropout are described in vehicle lateral dynamic system. The goal of this study is to construct a static output feedback controller that will ensure the system is stochastically stable and H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> performance. Finally, the suggested controller design method is validated by using the co-simulation of Matlab/Simulink and Carsim.