Robust optimal control technology for four-wheel steering vehicle

被引：1
|
作者：
Rong-Hu, Zhang [1 ]
Guo-Ying, Cheng [1 ]
Guo-Qiangf, Wang [1 ]
Hong-Guang, Jia [1 ]
Tao, Chen [1 ]
机构：
[1] Chinese Acad Sci, Changchun Inst Opt Fine Mech & Phys, Beijing 100864, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年
关键词：
H-2/H-8; control; Kalman filter; parameter uncertainty; four-wheel steering (4WS);
D O I：
10.1109/ICMA.2007.4303773
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Establish the two degree of freedom model of four-wheel steering vehicle. A H-2 optimal controller and Kalman filter is designed when the control mathematics model is certainty. Aim at the parameter uncertainty of tire, a four-wheel vehicle steering system uncertain model was founded and analyzed. A H-infinity optimal controller is designed with the method of H-infinity control theory to solve the problem about model uncertainty. The simulation results show that the controller designed by the proposed method has good robustness, adaptability and stability; it can easily attenuate the model uncertainty and also has the strong ability to resist the disturbance.
引用
收藏
页码：1513 / 1517
页数：5
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