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Robust controller design of four wheel steering systems using mu synthesis techniques
| 题名： | Robust controller design of four wheel steering systems using mu synthesis techniques |
| 作者： | Tokar, R.L.;McVey, B.D.;Gao, X.; |
| 关键词： | 33 ADVANCED PROPULSION SYSTEMS ;99 MATHEMATICS, COMPUTERS, INFORMATION SCIENCE, MANAGEMENT, LAW, MISCELLANEOUS; AUTOMOBILES; CONTROL SYSTEMS; COMPUTER-AIDED DESIGN; WHEELS; DIGITAL SYSTEMS; ITERATIVE METHODS |
| 摘要： | In this paper, a linearized four wheel steering (4WS) system model is deduced and then modified into a form which is appropriate for applying Matlab {mu} Toolbox to design robust controller. Several important topics are discussed in detail, such as (1) how to make system set-up match Matlab {mu} Toolbox requirement, (2) how to select weights based on plant`s uncertainty, (3) how to solve controller discretization problem, and (4) how to adjust the system so that the conditions necessary for using a state-space formula to solve H{infinity} optimal (sub-optimal) problem and performing the Matlab {mu} Toolbox D--K iteration procedure are satisfied. Finally simulation results of robust controller and a PID controller are compared. |
| 总页数： | 25p |
| 报告类型： | 科技报告 |
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