State Feedback Control Based on Regional Pole Placement on Handling Stability of Ground Vehicles

Abstract

A controller based on regional pole placement for the handling stability of an intelligent ground vehicle is proposed in this paper. The 2 degree-of-freedom model for the vehicle was applied to analysis the uncertainty generated by the tires and model of the vehicle. Another parameter that must be considered is the change in the vehicle's speed. A polytope with finite vertices was applied for the uncertainty generated by the vehicle's speed in the model. The linear matrix inequality (LMI) method was used to solve the gain of the controller's matrix. Simulations were also used to verify the performance of the proposed controller. The simulation results prove that the controller can improve the vehicle's handling stability against the uncertainty generated by the parameters.

Keywords

• Pole placement
• state-feedback
• D-stability