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Abstract: In
practice, vehicles always undertake different loadings and have velocity
variation because of braking/ accelerating. Under of the yaw-rate
tracking feedback control logic, a μ synthesis robust controller is
designed with the optimized weighting functions to attenuate the
external disturbances. The controller is provided with better
performance for whole closed-loop controlled 4WS (Four-wheel
steering)vehicle comparing the arrived by the normal 4WS controller
designed by old techniques. The results show that the 4WS vehicle with μ
synthesis robust controller not only has greater maneuverability and
robust performance but also has the strong ability to resist the
disturbance, and it is not sensitive to the variation of vehicle
parameters. The controller also improves the disadvantage for the H∞
controller which normally is conservative about the disturbance
resistance.
Key words: msynthesis Four-wheel steering Robust control Yaw-rate
CLC No: TP13
U463.4
福特—中国研究与发展基金(50122153)，江苏省科技攻关(BE2003013)和东南大学优秀博士学位论文基金(YBJJ0402)资助项目
. Received 20041009, received in revised form 20050123
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