四轮转向系统非脆弱控制器设计

Design of the four wheel steering system non-fragile controller

以四轮转向系统为研究对象,引入H_∞控制理论,设计了一种四轮转向系统非脆弱控制器存在的线性矩阵不等式(LMI)条件。通过H_∞控制理论有效地抑制外部扰动对系统的干扰,利用Lyapunov函数方法以及矩阵不等式变换技术,将研究系统的控制器存在条件以矩阵不等式的形式给出。与现有的控制器设计方法相比,充分考虑了控制器存在的不确定性摄动,即非脆弱控制问题。最后,通过MATLAB仿真软件对所推导得出的控制器不等式存在条件进行验证,进一步证明了提出方法的有效性。

According to the system of four wheel steering, a non-fragile controller is designed via theory of H∞ control andlinear matrix inequality （LMI） method in this thesis. The external disturbance can be suppressed effectivety by H∞ con- trol theory. Then, by using Lyapunov function method and matrix inequality converter technique, the sufficient condition of controller is obtained via LMI method. Comparing with the existing research method of controller, the problem of non- fragile that controller has uncertainties are consider in this paper. Finally, the MATLAB simulation experiment shows the validity of the proposed linear matrix inequality of controller.