Simple Discrete-Time Switched H ∞ Optimal Control: Application for Lateral Vehicle Control
| Autor: | Menhour, L, Koenig, Damien, D 'andréa-Novel, B |
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| Přispěvatelé: | Centre de Robotique (CAOR), MINES ParisTech - École nationale supérieure des mines de Paris, Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL), GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), ANR-10-BLAN-0308,INOVE,Une approche INtégrée pour l'Observation et la commande de la dynamique de VEhicules(2010) |
| Jazyk: | angličtina |
| Rok vydání: | 2015 |
| Předmět: | |
| Zdroj: | LPVS 2015-1st IFAC Workshop on Linear Parameter Varying Systems LPVS 2015-1st IFAC Workshop on Linear Parameter Varying Systems, Oct 2015, Grenoble, France |
| Popis: | International audience; This paper presents a switched H ∞ optimal control for a class of discrete-time switched linear systems. All sufficient conditions of the existence of the control law are proved and given in terms of LMI for any switching. Moreover, the proofs are established using an H ∞ norm and switched Lyapunov functions. Its performances are shown through a steering vehicle control application. In fact, the vehicle models are affected by several parameter variations like longitudinal speed, cornering stiffnesses coefficients. The validation step is conducted using real data acquired by a laboratory car under high lateral loads. |
| Databáze: | OpenAIRE |
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