Abstract:
A robust controller design method for vehicle roll control
with variable speed and actuator delay is presented.
Based on a three-degree-of-freedom (3DOF) yaw-roll
model, the H performance from the steering input to the
vehicle body roll angle is considered. The design
approach is formulated in terms of the feasibility of
delay-dependent matrix inequalities. By combining the
random search of genetic algorithms (GAs) and the
efficient solution of linear matrix inequalities (LMIs), the
state feedback controllers can be obtained. The
approach is validated by simulations showing that the
designed controllers can achieve good performance in
roll control.
