东南大学学报（自然科学版）2016，Vol.18Issue(3)：476-482,7.DOI:10.3969/j.issn.1001-0505.2016.03.004
考虑参数不确定性的汽车前轮主动转向输出反馈鲁棒控制
Robust output feedback control for vehicle active front wheel steering system considering parameter uncertainties
摘要
Abstract
A robust static output feedback controller for active front wheel steering (AFS)is pro-posed to improve the performance of vehicle yaw rate tracking and lateral stability.The modeling uncertainties including vehicle velocity and cornering stiffness are considered in the controller design. The vehicle velocity is variable and measurable,and the polytope model is applied to deal with the uncertainty of vehicle velocity.With the combination of the multi-objective optimization and the out-put feedback robust control,the performance of the tracking vehicle yaw rate and lateral stability is im-proved.In the co-simulation environment including Matlab/Simulink and CarSim,simulations under the typical handling conditions of J-turn and double lane change are conducted to verify the perform-ance of the proposed controller.Simulation results show that the performance of vehicle handling and stability is improved with the proposed controller,and the workload of the driver is reduced.The re-sults also show that the proposed controller is robust to the parameter uncertainty of the vehicle model.关键词
车辆/前轮主动转向/输出反馈/鲁棒控制/参数不确定性Key words
vehicle/active front wheel steering/output feedback/robust control/parameter uncertainty分类
交通工程引用本文复制引用
王金湘,代蒙蒙,陈南..考虑参数不确定性的汽车前轮主动转向输出反馈鲁棒控制[J].东南大学学报（自然科学版）,2016,18(3):476-482,7.基金项目
国家社科基金重大项目“城市哲学和城市批评史研究”（11&ZD089）成果之一。 （）
