An Output Feedback Controller Design for Lateral Vehicle Dynamic

Abstract: This paper deals with the robust lateral control to improve vehicle dynamic behavior. Bounded variations on longitudinal speed, front and rear tire stiffnesses are considered allowing the vehicle model to form a polytope of linear systems. In fact, the vehicle model depends affinely on the longitudinal speed and its inverse. Taking this dependence into account, the polytope is associated with a hyper-trapezoidal domain. This representation of the polytope is more judicious and finally less conservative than a classical hyper-rectangular one. An algorithm is proposed to compute a static output feedback controller with reduced gains. The controller guaranteed a certain level of performance for the vehicle system in terms of stability, settling time and also robustness under a given class of uncertainty. In order to highlight the performance of the proposed control algorithm, a numerical simulation is performed.