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首页> 外文期刊>IEEE Transactions on Control Systems Technology >Design of Simultaneously Stabilizing Controllers and Its Application to Fault-Tolerant Lane-Keeping Controller Design for Automated Vehicles
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Design of Simultaneously Stabilizing Controllers and Its Application to Fault-Tolerant Lane-Keeping Controller Design for Automated Vehicles

机译：同时稳定控制器的设计及其在自动车辆容错车道保持控制器设计中的应用

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摘要

Simultaneous stabilization deals with the following question: given a finite number of LTI plants P{sub}1, P{sub}2, …, P{sub}k, does there exist a single LTI controller C such that each of the feedback interconnections (P{sub}i, C) (i = 1,2, …, k) is internally stable? This paper presents a new methodology for the design of simultaneously stabilizing controllers for two or more plants that satisfy; a sufficient condition. A classic result from simultaneous-stability theory is invoked to cast the sufficient condition as a linear matrix inequality (LMI). It is shown that in this sitting, the problem of design of simultaneously stabilizing controllers can be reduced to that of a standard H{sub}∞ control problem. The technique developed is applied to the design of a fault-tolerant controller for lane-keeping control of automated vehicles. The controller makes the system insensitive to a failure in either one of two lateral error measuring sensors used for lane-keeping control. Experimental results confirm the efficacy of the design and reinforce analytical predictions of performance.
机译：同时稳定处理以下问题：给定有限数量的LTI工厂P {sub} 1，P {sub} 2，...，P {sub} k，是否存在单个LTI控制器C，使得每个反馈互连（P {sub} i，C）（i = 1,2，…，k）内部稳定吗？本文提出了一种新的方法，用于同时满足两个或更多工厂的控制器的稳定设计。一个充分的条件。引用了同时稳定性理论的经典结果来将充分条件转换为线性矩阵不等式（LMI）。结果表明，在这种情况下，同时稳定控制器的设计问题可以减少到标准H {sub}∞控制问题。所开发的技术应用于自动车道保持控制的容错控制器的设计。控制器使系统对用于车道保持控制的两个侧向误差测量传感器中的任一个的故障不敏感。实验结果证实了设计的有效性，并加强了性能的分析预测。

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