摘要
Presented are the fact that the transfer function from the front steering angle to yaw rate is strictly positive real, irrespective of the uncertain mass and uncertain velocity, how to determine the positivity margin for this transfer function (some stabilization results are obtained), and how to check the positivity of a controller family. Furthermore,by exploiting the intrinsic structure of system equations and uncertainties, a nonconservative PID stabilization criterion for driver support systems is established. Some interesting results on positivity and connections of PID controllers are shown. Finally, some extreme point results on PID α-stabilization are obtained. These results give certain explanations and justifications for the simulation results performed at German Aerospace Research Center.
Presented are the fact that the transfer function from the front steering angle to yaw rate is strictly positive real, irrespective of the uncertain mass and uncertain velocity, how to determine the positivity margin for this transfer function (some stabilization results are obtained), and how to check the positivity of a controller family. Furthermore, by exploiting the intrinsic structure of system equations and uncertainties, a nonconservative PID stabilization criterion for driver support systems is established. Some interesting results on positivity and connections of PID controllers are shown. Finally, some extreme point results on PID α-stabilization are obtained. These results give certain explanations and justifications for the simulation results performed at German Aerospace Research Center.
基金
Project supported by the National Major Basic Research and Development Program
the National Key Project of China and Alexander von Humboldt Foundation of Germany.
