H∞ Controller Synthesis and Analysis with Application to Lateral Driving Assistance
نویسندگان
چکیده
This paper presents the design of a H∞ controller dedicated to the lateral driving assistance including lane keeping and yaw dynamic enhancement. It is used to add a steering torque to that of the driver in order to improve the rejection of external disturbances (such as lateral wind) despite uncertainties such as road adhesion, longitudinal velocity, and driver dynamics. The simulation results presented in the paper demonstrate the effectiveness of the proposed solution. Using non linear model of the vehicle, lane keeping and lane change maneuvers are made more accurate, while the external disturbances are well rejected. Vehicle trajectories are simulated with respect to various road adhesion, curvature and speed, in order to evaluate vehicle stability domain and kind of instability that may occur.
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