Decentralised Control Design of Lateral and Vertical Vehicle Dynamics using Passivity
Villegas, Carlos and Shorten, Robert and Corless, Martin and Readman, Mark and Solmaz, Selim (2008) Decentralised Control Design of Lateral and Vertical Vehicle Dynamics using Passivity. Proceedings in Applied Mathematics and Mechanics, 8 (1). pp. 10149-10150.
In this paper, we present a novel methodology to design block-diagonal stable decentralised controllers based on the Kalman-Yakubovich-Popov lemma. The approach yields closed-loop systems that are robust with respect to parameter uncertainty and structural perturbations. We demonstrate the methodology by designing controllers for the lateral and vertical subsystems of a vehicle emulator; namely, a test vehicle that can mimic the behaviour of a wide range of vehicles.
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