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    Decentralised Control Design of Lateral and Vertical Vehicle Dynamics using Passivity


    Villegas, Carlos and Shorten, Robert N. 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.

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    Abstract

    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.

    Item Type: Article
    Academic Unit: Faculty of Science and Engineering > Research Institutes > Hamilton Institute
    Faculty of Science and Engineering > Mathematics and Statistics
    Item ID: 1265
    Identification Number: https://doi.org/10.1002/pamm.200810149
    Depositing User: Selim Solmaz
    Date Deposited: 26 Feb 2009 14:59
    Journal or Publication Title: Proceedings in Applied Mathematics and Mechanics
    Publisher: WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim
    Refereed: Yes
    Funders: EU, EI, SFI
    URI:

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