Simple Tracking Output Feedback H ∞ Control for Switched Linear Systems: Lateral Vehicle Control Application

L Menhour 1 Damien Koenig 2 B D 'Andréa-Novel 1
2 GIPSA-SLR - SLR
GIPSA-DA - Département Automatique
Abstract : In this paper, the problem of the switched H ∞ tracking output feedback control problem is studied. The control design problem is addressed in the context of discrete-time switched linear systems. Then, the design of continuous-time case becomes trivial. Linear Matrix Inequality (LMI) and Linear Matrix Equality (LME) representations are used to express all sufficient conditions to solve the control problem. Some transformations leading to sufficient conditions for the control problem are also used. All conditions are established for any switching using a switched Lyapunov function and a common Lyapunov function. The effectiveness of the proposed control approach is shown through a steering vehicle control implementation. Interesting simulation results are obtained using real data acquired by an instrumented car.
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Communication dans un congrès
19th IFAC World Congress (IFAC WC 2014), Aug 2014, Le Cap, South Africa. 19 (1), pp.6424-6429, 2014, 〈10.3182/20140824-6-ZA-1003.00221〉
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L Menhour, Damien Koenig, B D 'Andréa-Novel. Simple Tracking Output Feedback H ∞ Control for Switched Linear Systems: Lateral Vehicle Control Application. 19th IFAC World Congress (IFAC WC 2014), Aug 2014, Le Cap, South Africa. 19 (1), pp.6424-6429, 2014, 〈10.3182/20140824-6-ZA-1003.00221〉. 〈hal-01235969〉

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