参数不确定4WS系统的鲁棒H_∞控制

ROBUST H_∞ CONTROL OF 4WS SYSTEM BASED ON PARAMETER UNCERTAINTIES

针对轮胎参数的不确定性 ,建立基于轮胎参数变化的汽车四轮转向系统不确定模型 ,同时进行分析 ,并将参数不确定性问题转化为基于干扰抑制的H∞ 控制问题 ,运用H∞ 控制理论的分析方法 ,通过求解Riccati方程设计基于参数变化的动态鲁棒H∞ 控制器。

Aiming at the parameter uncertainties of tire, a four wheel steering system uncertain model based on the variety of tire parameter was founded and analyzed. And the problem about parameter uncertainty was transformed into standard H ∞ control problem based on disturbance attenuation. At the same time, by resolving Riccati equation the dynamic robust H ∞ controller was designed with the method of H ∞ control theory. At last the simulation result showed that the designed controller can easily attenuate the tire parameter uncertainty.