吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (6): 1757-1762.doi: 10.13229/j.cnki.jdxbgxb201506004

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Controlling of vehicle lateral movement based on robust H∞ theory

QIAN Li-jun, HU Wei-long, XIN Fu-long, QIU Li-hong   

  1. School of Mechanical and Automotive Engineering, Hefei University of Technology,Hefei 230009,China
  • Received:2014-04-03 Online:2015-11-01 Published:2015-11-01

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Abstract: In order to achieve precise control of the lateral movement of vehicles, a robust controller for vehicle motion is proposed. Ideal lateral acceleration of the vehicle mass center is achieved by changing the input angle of the steering controller, and robust stability and smaller control error are obtained. First, according to 2-degree-freedom vehicle model, the steering system and road perturbations, the generalized state equation is established. Then a loop transformation of the state equation is made to get the controller. Finally stability analysis and experiments are carried out. The controller parameters vary with the vehicle speed, and the design of this controller is much simpler than other variable parameter controller. Stability analysis results show that the whole control system has internal stability. Vehicle experiment results show that the controller can make the acceleration error of the lateral motion of the vehicle mass center within 0.1 m/s2.

Key words: vehicle engineering, robust control, lateral movement, perturbation, internal stability

CLC Number: 

  • U27
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