LPV Control of Actuator Saturated Systems: A Case Study on Single-Track Vehicle Control

Abstract The 2 gain control problem for disturbance attenuation in Linear Parameter Varying (LPV) Systems with saturating actuators has been addressed where the systems handled in the study are subjected to 2 disturbances. The aim in the presented method is to express saturating actuator analytically with a convex hull of some linear feedback. This point of view allows us to construct 2 control problem via Linear Matrix Inequalities (LMIs). Nested ellipsoids have been used to measure the stability and disturbance rejection capabilities of the control system. At the end, the proposed controller scheme has been simulated on a single-track vehicle dynamics with some linear time-varying parameters and a wind disturbance.

[1]  Lorenzo Fagiano,et al.  Robust vehicle yaw control using an active differential and IMC techniques , 2007 .

[2]  Isabelle Queinnec,et al.  ℒ︁2‐Stabilization of continuous‐time linear systems with saturating actuators , 2006 .

[3]  Stephen P. Boyd,et al.  Analysis of linear systems with saturation using convex optimization , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[4]  P. A. Shavrin.  Control of independent rear wheel drive vehicle , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[5]  P. Gahinet,et al.  Affine parameter-dependent Lyapunov functions for real parametric uncertainty , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[6]  John R. Hauser,et al.  A virtual rider for motorcycles: An approach based on optimal control and maneuver regulation , 2008, 2008 3rd International Symposium on Communications, Control and Signal Processing.

[7]  P. Riekert,et al.  Zur Fahrmechanik des gummibereiften Kraftfahrzeugs , 1940 .

[8]  Zongli Lin.  H∞-almost disturbance decoupling with internal stability for linear systems subject to input saturation , 1997, IEEE Trans. Autom. Control..

[9]  L. Ghaoui,et al.  A cone complementarity linearization algorithm for static output-feedback and related problems , 1997, IEEE Trans. Autom. Control..

[10]  Tingshu Hu,et al.  An analysis and design method for linear systems subject to actuator saturation and disturbance , 2002, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[11]  Tingshu Hu,et al.  Analysis of linear systems in the presence of actuator saturation and I-disturbances , 2004, Autom..

[12]  L. Guvenc,et al.  Robust steer-by-wire control based on the model regulator , 2002, Proceedings of the International Conference on Control Applications.

[13]  S. Tarbouriech,et al.  Control design for linear systems with saturating actuators and /spl Lscr//sub 2/-bounded disturbances , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[14]  Eduardo Sontag,et al.  On Finite-Gain Stabilizability of Linear Systems Subject to Input Saturation , 1996 .