Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux

Type de document

COMMUNICATION AVEC ACTES INTERNATIONAL (ACTI)

Langue

anglais

Auteur

MAMMAR ; COYSSI

Résumé / Abstract

This paper addresses the modeling and multiobjective robust controller synthesis for vehicle automatic steering. We use the linear fractional transformation to represent the control loop. Thus the vehicle is assimilable to an LTI system subject to structured perturbations. The design specifications include LMI formulation of robust stability, robust performance bounds and output and command input peak which is based on a single quadratic lyapunov function. The non convex conditions can be numerically checked with an efficient LMI-based heuristic. We obtain then a LTI controller such that the close-loop system satisfied all specifications simultaneously.