文章基本信息

标题：Robust Lateral Control of an A-double combination via H∞ and Generalized H2 Static Output Feedback
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作者：Maliheh Sadeghi Kati ; Maliheh Sadeghi Kati ; Hakan Köroğlu 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：11
页码：305-311
DOI：10.1016/j.ifacol.2016.08.046
语种：English
出版社：Elsevier
摘要：Abstract A robust static output feedback controller is developed for improving the high speed lateral performance of an A-double combination by active steering of the dolly unit. The controller is designed to be robust against the uncertainty in the cornering stiffness parameters of the tires in the semitrailers. Both H ∞ and generalized H 2 synthesis approaches are discussed together with their solutions in the form of linear matrix inequality (LMI) optimizations. The control syntheses are then applied to both a fixed system and an uncertain parameter-dependent system. The verification results confirm a significant reduction in rearward amplification of yaw rates and high speed transient off-tracking. To validate the simulation results, an advanced high-fidelity vehicle model is used.
关键词：KeywordsRobust static output feedbackGeneralized H 2 and H ∞ synthesisLMI based controlRearward amplificationActive dolly