What is it about?
This paper examines the problem of designing a robust controller for an electric vehicle with constraints in the control input and system output. The design of a controller for robustness and performance requires satisfying precise specifications. This paper provides the design conditions for the existence of such a controller that can assure both robust stability and performance objective.
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Why is it important?
We have shown how anticipated uncertainties in vehicle model can be recast into parametric uncertainties. This modelling approach is essential to the design of a robust controller. Furthermore, sufficient conditions for the realisation of a robust controller is provided in terms of linear matrix inequalities constraints. More importantly, this design approach can be utilised in nonlinear systems.
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This page is a summary of: Robust H∞ Output-Feedback Yaw Control for Vehicles with Differential Steering, Journal of Control Science and Engineering, September 2018, Hindawi Publishing Corporation,
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