基于观测器的汽车侧向动力学控制

Based on Observer of The Vehicle Lateral Dynamic Control

文章研究带有不可测侧偏角和侧偏刚度系数不确定性的汽车侧向动力学控制问题.引入T-S模糊隶属度函数描述非线性的前后轮侧向力.考虑到侧偏角传感器的昂贵价格,而利用观测器对侧偏角进行在线估计,则大大减少了成本.基于Lyapunov稳定理论,以线性矩阵不等式形式给出控制器存在的充分条件.在带有非线性车轮侧向力、道路附着系数变化等干扰的情况下,该控制器能够提高汽车的稳定性.最后通过一个数值例子说明所提方法的有效性.

To study lateral dynamics control problem with unmeasured side slip angle and the uncertainty of the cornering stiffness coefficient,the T-S fuzzy membership function is intro- duced to describe vehicle lateral force of front and rear tires. Taking into account the price of side slip angle sensor is expensive,this paper uses a fuzzy obs-erver to estimate side slip angle,which highly reduce the cost. Based on the Lyapunov stability theory,a sufficient condition for the exist- ence of controller is established in terms of linear matrix inequalities. The controller can ira-prove the stability under the situation of the nonlinearities of the lateral force, the variations of the ad- herence coef-ficients. Eventually, a numerical example is given to show the effectiveness of the proposed approach.