Model-following Control System for Four-wheel Steering Farm Vehicle (Part 3): Controller Designed as Constantly Scaled H{sub}∞ Control State Feedback Problem

摘要

In this report, a design method of Model-following control system is constructed. About modeling of a vehicle, the vehicle model based on approximate 2 wheel model with prior information and estimated, values of cornering power, is considered as nominal model. Moreover, spectral norm of the vehicle system's parametric perturbations is measured, and a design method in consideration of the effect is constructed. Controller is designed with a solution of constantly scaled H{sub}∞ control state feedback problem,. To confirm following performance of the designed control system, running experimentation on concrete road was carried out. As the results, the designed controler made the side velocity and the yaw angular velocity of the test vehicle follow of the two reference models desirably.