Reduced order gain scheduled h-infinity control design for lateral driving assistance

This paper presents the design of two reduced order linear parameter-varying controllers with guaranteed Hscrinfin, performance for lateral driving assistance. The uncertainties considered consist in road adhesion, the mass of the vehicle and the driver dynamics. The lateral controller adds a steering torque to that of the driver in order to improve lane keeping and yaw dynamic under external disturbances (such as lateral wind) for a varying longitudinal velocity v. The reduced order controllers are thus scheduled by the operating parameter v

[1]  Ronald A. Hess,et al.  A Model of Driver Steering Control Behavior for Use in Assessing Vehicle Handling Qualities , 1993 .

[2]  Said Mammar,et al.  Vehicle Handling Improvement by Active Steering , 2002 .

[3]  Andrew Bartlett,et al.  Robust Control: Systems with Uncertain Physical Parameters , 1993 .

[4]  B. Moore.  Principal component analysis in linear systems: Controllability, observability, and model reduction , 1981 .

[5]  P. Gahinet,et al.  A convex characterization of gain-scheduled H∞ controllers , 1995, IEEE Trans. Autom. Control..

[6]  P. Gahinet,et al.  A convex characterization of gain-scheduled H∞ controllers , 1995, IEEE Trans. Autom. Control..

[7]  Jin–Chuan Hsu,et al.  COOPERATIVE COPILOT WITH ACTIVE STEERING ASSISTANCE FOR VEHICLE LANE KEEPING , 1998 .

[8]  A. C. Antoulas,et al.  Linear Dynamical Systems, Approximation , 1999 .

[9]  A. Packard,et al.  Robust performance of linear parametrically varying systems using parametrically-dependent linear feedback , 1994 .

[10]  Athanasios C. Antoulas,et al.  Approximation of Linear Dynamical Systems , 1998 .

[11]  Pierre Apkarian,et al.  Self-scheduled H∞ control of linear parameter-varying systems: a design example , 1995, Autom..

[12]  Jürgen Ackermann,et al.  Advantages Of Active Steering For Vehicle Dynamics Control , 1999 .

[13]  Gilles Duc,et al.  Robust control and /spl mu/-analysis with application to lateral driving assistance , 2003, Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems.

[14]  L. Ghaoui,et al.  A cone complementarity linearization algorithm for static output-feedback and related problems , 1996, Proceedings of Joint Conference on Control Applications Intelligent Control and Computer Aided Control System Design.

[15]  L. Daniel Metz,et al.  THE SIMULATION OF DRIVER INPUTS USING A VEHICLE DRIVER MODEL , 2000 .

[16]  Masayoshi Tomizuka,et al.  Lane change maneuver of automobiles for the intelligent vehicle and highway system (IVHS) , 1994, Proceedings of 1994 American Control Conference - ACC '94.