[1]殷国栋,吴昊,张宁,等.基于LMI的4WS-4WD车辆H∞鲁棒控制器设计[J].东南大学学报(自然科学版),2016,46(6):1165-1171.[doi:10.3969/j.issn.1001-0505.2016.06.010]
　Yin Guodong,Wu Hao,Zhang Ning,et al.H∞ robust controller design for 4WS-4WD vehicle based on LMI[J].Journal of Southeast University (Natural Science Edition),2016,46(6):1165-1171.[doi:10.3969/j.issn.1001-0505.2016.06.010]
点击复制

基于LMI的4WS-4WD车辆H∞鲁棒控制器设计()
分享到：

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
46
期数:
2016年第6期
页码:
1165-1171
栏目:
交通运输工程
出版日期:
2016-11-20

文章信息/Info

Title:
H ∞ robust controller design for 4WS-4WD vehicle based on LMI
作者:
殷国栋; 吴昊; 张宁; 陈建松
东南大学机械工程学院, 南京 211189
Author(s):
Yin Guodong;  Wu Hao;  Zhang Ning;  Chen Jiansong
School of Mechanical Engineering, Southeast University, Nanjing 211189, China
关键词:
H ∞鲁棒控制;  LMI;  车辆动力学;  最优控制;  非脆弱控制
Keywords:
H ∞ robust control;  linear matrix inequality;  vehicle dynamics;  optimal control;  non-fragile control
分类号:
U461.1
DOI:
10.3969/j.issn.1001-0505.2016.06.010
摘要:
基于线性矩阵不等式(LMI)设计了H∞鲁棒最优控制器以及H∞鲁棒非脆弱控制器.通过两自由度(2-DOF)车辆模型推导并建立H∞鲁棒控制系统,此外,定义系统摄动并对摄动矩阵进行分解,进而利用线性矩阵不等式求解控制器.仿真结果表明,H∞鲁棒最优控制器对侧偏角及横摆角速度的控制效果显著优于LQR控制器.同时,在控制器存在摄动及对侧偏角及横摆角速度进行控制的情况下,H∞鲁棒非脆弱控制器的鲁棒性能显著优于普通鲁棒H∞控制器.因此,H∞鲁棒最优控制器解决了普通鲁棒H∞控制器控制性能差的问题,H∞鲁棒非脆弱控制器则解决了普通H∞鲁棒控制器对参数变化敏感的问题.
Abstract:
H ∞ robust optimal controller and H∞ robust non-fragile controller were designed based on linear matrix inequality(LMI). Two degrees of freedom(2-DOF)vehicle model was used to derive and establish the H∞ robust control system. In addition, the perturbation matrix of the system was defined and decomposed. And then the controller was obtained by using LMI. Simulation results show that the control effects on the sideslip angle and the yaw rate with H∞ robust optimal controller are significantly better than those of LQR(linear quadratic regulator)controller. Meanwhile, when the perturbation of controller in the vehicle system exists, the control effects on side angle and yaw rate with H∞ robust non-fragile robust are significantly better than those with of ordinary H∞ robust controller. Thus, H∞ robust optimal control solves the problem with bad control performance for H∞ robust control. H∞ robust optimal control can guarantee control performance and robust performance at the same time. H∞ robust non-fragile controller solves the problem that the controller is sensitive to parameters.

参考文献/References:

[1] Ozatay E, Unlusoy S Y, Yildirim M A. Design of fuzzy logic controller for four wheel steering system[C]//2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Long Beach,USA: American Society of Mechanical Engineers, 2005: 2331-2338. DOI:10.1115/detc2005-84114.
[2] Aslam J, Qin S Y, Alvi M A. Fuzzy sliding mode control algorithm for a four-wheel skid steer vehicle[J]. Journal of Mechanical Science and Technology, 2014, 28(8): 3301-3310. DOI:10.1007/s12206-014-0741-y.
[3] Fahimi F. Full drive-by-wire dynamic control for four-wheel-steer all-wheel-drive vehicles[J]. Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, 2013, 51(3): 360-376. DOI:10.1080/00423114.2012.743668.
[4] 胡国强. 汽车四轮转向系统转向特性的研究[D]. 武汉:武汉理工大学汽车工程学院,2012.
[5] Yin Guodong, Chen Nan, Wang Jinxiang, et al. A study on μ-synthesis control for four-wheel steering system to enhance vehicle lateral stability[J]. Journal of Dynamic Systems Measurement and Control, 2011, 133(1): 011002. DOI:10.1115/1.4002707.
[6] Kolodziej J R. Adaptive rear-wheel steering control of a four-wheel vehicle over uncertain terrain [C]//Proceedings of the ASME 5th Annual Dynamic Systems and Control Division Conference and JSME 11th Motion and Vibration Conference. Fort Lauderdale, FL, USA: American Society of Mechanical Engineers, 2013: 857-866.
[7] Du H P, Lam J, Sze KY, et al. Design of non-fragile H-infinity controller for active vehicle suspensions[J]. Journal of Vibration and Control, 2005, 11(2): 225-243. DOI:10.1177/1077546305049392.
[8] Gao X, Teo K L, Duan G R. et al. Non-fragile robust H∞control for uncertain spacecraft rendezvous system with pole and input constraints[J]. International Journal of Control, 2012, 85(7): 933-941. DOI:10.1080/00207179.2012.669848.
[9] Kchaou M, Souissi M, Toumi A. A new approach to non-fragile H∞ observer-based control for discrete-time fuzzy systems[J]. International Journal of Systems Science, 2012, 43(1): 9-20. DOI:10.1080/00207721003753409.
[10] Liu Zhenwei, Zhang Huaguang, Zhang Qingling, et al. Novel compensation-based non-fragile H∞ control for uncertain neutral systems with time-varying delays[J]. International Journal of Systems Science, 2012, 43(5): 961-971. DOI:10.1080/00207721.2010.543487.
[11] Xu H, Lin Z, Makur A, et al.Non-fragile H2 and H∞ filter designs for polytopic two-dimensional systems in Roesser model[J]. Multidimensional Systems and Signal Processing, 2010, 21(3): 255-275. DOI:10.1007/s11045-010-0104-5.
[12] 祁永宁,陈南,李普,等.四轮转向车辆的直接横摆力矩控制[J].东南大学学报(自然科学版),2004,34(4):451-454.
　　Qi Yongning, Chen Nan, Li Pu, et al. Direct yaw moment control of 4WS vehicle[J]. Journal of Southeast University(Natural Science Edition), 2004, 34(4): 451-454.(in Chinese)
[13] Fukui K, Miki K, Hayashi Y, et al. Analysis of driver and a ‘four wheel steering vehicle’ system using a driving simulator[J]. SAE Technical Paper Series, 1988, 880641. DOI:10.4271/880641.
[14] Li Zhongjian, An Jinwen.Uncertainty representation and research of the application of high-performance robust flight controller dsign[J]. Journal of Northwest University, 2002, 20(1): 96-99.
[15] You S S, Chai Y H.Multi-objective control synthesis: An application to 4WS passenger vehicles[J]. Mechatronics, 1999, 9(4): 363-390. DOI:10.1016/s0957-4158(98)00056-7.
[16] Sun Ping. Theory and application of robust H∞ control[M]. Beijing: Tsinghua University Press, 2012: 36-46.

备注/Memo

备注/Memo:
收稿日期: 2016-02-03.
作者简介: 殷国栋(1976—),男,博士,教授,博士生导师,ygd@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(51575103)、国家重点研发计划资助项目(2016YFB0100906,2016YFD0700905).
引用本文: 殷国栋,吴昊,张宁,等.基于LMI的4WS-4WD车辆H∞鲁棒控制器设计[J].东南大学学报(自然科学版),2016,46(6):1165-1171. DOI:10.3969/j.issn.1001-0505.2016.06.010.
更新日期/Last Update: 2016-11-20