Continuous-time and discrete-time switched H∞ state feedback controllers: application for a robust steering vehicle control

Abstract : Two control laws for switched uncertain linear systems are proposed: firstly, a continuous-time switched H$_{\infty}$ state feedback control is given, and secondly, a discrete-time H$_\infty$ state feedback control. These controllers are designed using a common Lyapunov function approach and switched Lyapunov function approach used for switched continuous-time and switched discrete-time linear systems respectively. All sufficient conditions of the existence of these controllers are proved and given in term of LMIs. These conditions are provided for an arbitrary switching rule. The lateral control via steering vehicle control is implemented to control simultaneously lateral deviation and yaw motion of the vehicle. In fact, a validation of these two controllers is performed using experimental data acquired by laboratory vehicle under high lateral accelerations.
Type de document :
Communication dans un congrès
12th biannual European Control Conference (ECC 2013), Jul 2013, Zurich, Switzerland. pp.01-06, 2013
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-00822255
Contributeur : Lghani Menhour <>
Soumis le : mardi 14 mai 2013 - 13:19:53
Dernière modification le : mardi 13 novembre 2018 - 01:15:00

Identifiants

  • HAL Id : hal-00822255, version 1

Citation

Lghani Menhour, Damien Koenig, Brigitte D'Andréa-Novel. Continuous-time and discrete-time switched H∞ state feedback controllers: application for a robust steering vehicle control. 12th biannual European Control Conference (ECC 2013), Jul 2013, Zurich, Switzerland. pp.01-06, 2013. 〈hal-00822255〉

Partager

Métriques

Consultations de la notice

507