This paper studies the trajectory tracking problem for the nonlinear model of a scooter and presents a robust 11,0 controller based on measurements of the tracking errors, the roll angle, the yaw angle and the steering angle. The study first introduces the full nonlinear model developed in Autosim which has 12 degrees of freedom. This is far more complex than a simple bicycle model and provides a good description of the scooter. Then a robust IT, controller based on the linearization of the nonlinear model is designed. Finally, the effectiveness of the controller is verified by means of two case studies. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Jiang, J., Evangelou, S.a., Torquil, M.r., Astolfi, A. (2017). Robust H∞Control for Autonomous Scooters. In 20th IFAC World Congress (pp.297-302). ELSEVIER SCIENCE BV [10.1016/j.ifacol.2017.08.049].
Robust H∞Control for Autonomous Scooters
Astolfi A.
2017-01-01
Abstract
This paper studies the trajectory tracking problem for the nonlinear model of a scooter and presents a robust 11,0 controller based on measurements of the tracking errors, the roll angle, the yaw angle and the steering angle. The study first introduces the full nonlinear model developed in Autosim which has 12 degrees of freedom. This is far more complex than a simple bicycle model and provides a good description of the scooter. Then a robust IT, controller based on the linearization of the nonlinear model is designed. Finally, the effectiveness of the controller is verified by means of two case studies. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
