Open AccessRobust H ∞ state feedback control for handling stability of intelligent vehicles on a novel all‐wheel independent steering mode
Author(s) -
Zhang Naisi,
Ni Jun,
Hu Jibin
Publication year - 2019
Publication title -
iet intelligent transport systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.579
H-Index - 45
eISSN - 1751-9578
pISSN - 1751-956X
DOI - 10.1049/iet-its.2018.5078
Subject(s) - state (computer science) , mode (computer interface) , control (management) , stability (learning theory) , control engineering , feedback control , control theory (sociology) , computer science , automobile handling , automotive engineering , engineering , artificial intelligence , human–computer interaction , algorithm , machine learning
We propose an H ∞ dynamics controller for an all‐wheel independent steering. A norm‐bounded method is used to describe the uncertainties in the system. A new reference model aimed at minimising the yaw rate and making the sideslip angle remain the same as the target sideslip angle is proposed; this will help especially when a vehicle changes lanes. Simulation and experimental results indicate that the controller can help improve the handling stability and correct directional problems when the vehicle's direction is changed by the steering angle.