Robust lateral motion control of distributed drive vehicle considering long input delays

Abstract

AbstractThis article presents a comparative study of lateral motion controller design for distributed drive vehicle. Aiming at handling long input delays, two types of robust controllers are specifically investigated. First, a Lyapunov‐Krasovskii functional based robust controller design is proposed. Considering input delay, the design conditions of the state‐feedback controller are derived in terms of linear matrix inequalities (LMIs), which can be effectively solved using LMI toolbox. Second, based on the same control law, a robust predictive controller design is further presented. However, different from the Lyapunov‐Krasovskii functional based robust controller, the control gain of the proposed robust predictive controller is calculated without considering the input delay. An input delay estimator and a predictor are developed instead to reconstruct the delay‐dependent state, which is further used to generate a new feedback error. Moreover, the feasibility of this control scheme is theoretically proved. Finally, extensive co‐simulations with Carsim and Matlab/Simulink are conducted to compare the performance between these two controllers. Compared with the Lyapunov‐Krasovskii functional based robust controller, longer input delay can be handled by using the proposed robust predictive controller.