东南大学学报（自然科学版）2016，Vol.46Issue(6)：1165-1171,7.DOI:10.3969/j.issn.1001-0505.2016.06.010
基于LMI的4WS-4WD车辆H∞鲁棒控制器设计
H∞ robust controller design for 4 WS-4 WD vehicle based on LMI
摘要
Abstract
H∞robust optimal controller and H∞ robust non-fragile controller were designed based on linear matrix inequality (LMI).Two degrees of freedom (2-DOF)vehicle model was used to derive and establish the H∞robust control system.In addition,the perturbation matrix of the system was de-fined and decomposed.And then the controller was obtained by using LMI.Simulation results show that the control effects on the sideslip angle and the yaw rate with H∞robust optimal controller are sig-nificantly better than those of LQR (linear quadratic regulator)controller.Meanwhile,when the per-turbation of controller in the vehicle system exists,the control effects on side angle and yaw rate with H∞robust non-fragile robust are significantly better than those with of ordinary H∞robust controller. Thus,H∞robust optimal control solves the problem with bad control performance for H∞robust con-trol.H∞robust optimal control can guarantee control performance and robust performance at the same time.H∞robust non-fragile controller solves the problem that the controller is sensitive to parameters.关键词
H∞鲁棒控制/LMI/车辆动力学/最优控制/非脆弱控制Key words
H∞ robust control/linear matrix inequality/vehicle dynamics/optimal control/non-fragile control分类
交通工程引用本文复制引用
殷国栋,吴昊,张宁,陈建松..基于LMI的4WS-4WD车辆H∞鲁棒控制器设计[J].东南大学学报（自然科学版）,2016,46(6):1165-1171,7.基金项目
国家自然科学基金资助项目（51575103）、国家重点研发计划资助项目（2016YFB0100906，2016YFD0700905）． （）
