Robust Observer-Based H∞ Controller Design for Motorcycle Lateral Dynamics

The present work deals with the design problem of a robust observer-based controller for a motorcycle system using LPV approach. The designed model is specifically uncertain and disturbed one, whose uncertainties are related to variations of both the cornering stiffness and the longitudinal velocity...

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Bibliographic Details
Published in:Mathematical problems in engineering 2018, Vol.2018 (2018), p.1-11
Main Authors: Ferjani, A., Chaabane, M., Zaidi, I.
Format: Article
Language:English
Subjects:
Computational geometry
Computer simulation
Constraint modelling
Control systems design
Control theory
Controllers
Convexity
Cornering
H-infinity control
International conferences
Mathematical problems
Optimization
Polytopes
Robust control
Stiffness
Systems design
Variables
Vehicles
Velocity
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Summary:The present work deals with the design problem of a robust observer-based controller for a motorcycle system using LPV approach. The designed model is specifically uncertain and disturbed one, whose uncertainties are related to variations of both the cornering stiffness and the longitudinal velocity. The nonlinear motorcycle model is firstly transformed on an uncertain LPV model with two vertices; then an observer-based H∞ robust controller is designed. Both the controller and observer gain matrices are computed by solving a unified convex optimization problem under LMI constraints using YALMIP solver. Numerical simulation results are given to illustrate the effectiveness of the designed method.
ISSN:1024-123X
1563-5147
DOI:10.1155/2018/2158129