Robust gain-scheduling static output-feedback H∞ control of vehicle lateral stability with heuristic approach

This paper presents a velocity-dependent static output-feedback control method to improve the vehicle lateral stability and handling performance. The uncertainties of longitudinal velocity, tire cornering stiffness and actuator saturation are taken into account. Considering the unmeasurable state in practice, a robust gain-scheduling output feedback H-infinity controller is designed based on the measurable velocity. By employing a two-stage heuristic approach, the output-feedback controller gain is obtained based on the state-feedback controller gain, which would be more favorable in application. The simulation results with two steering maneuvers indicate the effectiveness of the proposed method. (C) 2020 Elsevier Inc. All rights reserved.

Automated summary

This paper introduces a velocity-dependent static output-feedback control method to enhance vehicle lateral stability and handling performance by considering uncertainties such as longitudinal velocity, tire cornering stiffness, and actuator saturation. A robust gain-scheduling output feedback H-infinity controller is designed based on measurable velocity, and the effectiveness of the proposed method is demonstrated through simulation results with two steering maneuvers.