提出基于静态输出反馈的前轮主动转向（AFS）鲁棒控制器，以提高汽车横摆角速度跟踪性能和横向稳定性。在控制器设计中考虑了车速和轮胎侧偏刚度的不确定性，其中车速在一定范围内变化并且可测，采用多胞型模型来描述车速的不确定性。利用多目标优化与输出反馈鲁棒控制方法，同时提高汽车横摆角速度跟踪性能和横向稳定性。在 Matlab／Simulink 和 CarSim 联合仿真环境中，对紧急转弯和双移线2种典型操纵工况下的控制器进行仿真试验。结果表明，所提出的控制器能够显著改善汽车的横向操纵性能和稳定性，降低驾驶员的工作负荷，且控制器对汽车模型参数的不确定性具有很好的鲁棒性。%A robust static output feedback controller for active front wheel steering (AFS)is pro-posed to improve the performance of vehicle yaw rate tracking and lateral stability.The modeling uncertainties including vehicle velocity and cornering stiffness are considered in the controller design. The vehicle velocity is variable and measurable,and the polytope model is applied to deal with the uncertainty of vehicle velocity.With the combination of the multi-objective optimization and the out-put feedback robust control,the performance of the tracking vehicle yaw rate and lateral stability is im-proved.In the co-simulation environment including Matlab/Simulink and CarSim,simulations under the typical handling conditions of J-turn and double lane change are conducted to verify the perform-ance of the proposed controller.Simulation results show that the performance of vehicle handling and stability is improved with the proposed controller,and the workload of the driver is reduced.The re-sults also show that the proposed controller is robust to the parameter uncertainty of the vehicle model.
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