Simple Discrete-Time Switched H ∞ Optimal Control: Application for Lateral Vehicle Control

L Menhour (1) , Damien Koenig (2) , B D 'Andréa-Novel (1)

1 CAOR - Centre de Robotique
2 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

This paper presents a switched H ∞ optimal control for a class of discrete-time switched linear systems. All sufficient conditions of the existence of the control law are proved and given in terms of LMI for any switching. Moreover, the proofs are established using an H ∞ norm and switched Lyapunov functions. Its performances are shown through a steering vehicle control application. In fact, the vehicle models are affected by several parameter variations like longitudinal speed, cornering stiffnesses coefficients. The validation step is conducted using real data acquired by a laboratory car under high lateral loads.

Mots clés: Switched optimal control; discrete-time switched linear systems; H ∞ norm; LMI; steering vehicle control

Domaines: Automatique / Robotique

L Menhour, Damien Koenig, B D 'Andréa-Novel. Simple Discrete-Time Switched H ∞ Optimal Control: Application for Lateral Vehicle Control. LPVS 2015 - 1st IFAC Workshop on Linear Parameter Varying Systems, Oct 2015, Grenoble, France. ⟨hal-01236030⟩