H_2-H_∞ Robust Static Output feedback control for Vehicle Chassis Stability with input saturation

摘要

This paper describes a robust output feedback control with input constraints for a lateral and roll vehicle dynamics model under critical motions. The variation of the road adhesion coefficient has been considered. To this, a T-S disturbed model has been studied. The lateral velocity and the roll angle are not measured. In a second study, the uncertainties of stiffness coefficients have been taken into account, to which, a robust H2 - H∞ output feedback controller has been designed. Based on Lyapunov theory, the controller gains are obtained by solving a set of Linear Matrix Inequalities (LMIs) constraints. The proposed techniques have been evaluated using a bicycle model with four degrees of freedom on Matlab simulator.