Estimate Based Hinfini Compensator: Application to Robust Automatic Steering

Damien Koenig (1) , Said Mammar (2)

1 LAG - Laboratoire d'automatique de Grenoble
2 LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs

Using the results of the linear sub-state estimation and of the linear matrix inequality (LMI), we develop a Luenberger low - order unknown input observer/controller, which gives full unbiased state estimation and H∞ disturbance attenuation. This method is designed in a nonstandard case: an output-disturbance free system, it's based on the bounded real lemma, and the resultant design algorithms are two Riccati inequalities.

Domaines: Automatique

Damien Koenig, Said Mammar. Estimate Based Hinfini Compensator: Application to Robust Automatic Steering. European Control Conference, 2001, Porto, Portugal. pp.CDROM. ⟨hal-00232862⟩