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

L Menhour; Damien Koenig; B D 'Andréa-Novel

doi:10.3182/20140824-6-ZA-1003.00221

Communication dans un congrès

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

1 CAOR - Centre de Robotique

2 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

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.

Keywords : steering control poly-quadratic stability H ∞ norm Switched linear systems

Type de document :

Communication dans un congrès

Domaine :

Sciences de l'ingénieur [physics] / Automatique / Robotique

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https://hal.univ-grenoble-alpes.fr/hal-01235969
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Soumis le : mardi 1 décembre 2015 - 09:54:33
Dernière modification le : mercredi 17 novembre 2021 - 12:31:02
Archivage à long terme le : : samedi 29 avril 2017 - 03:47:36