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Nonlinear Unscented H_{\infty } Suspension and Tracking Control of Mobile Vehicles

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1 Author(s)
Vepa, R. ; Sch. of Eng. & Mater. Sci., Queen Mary Univ. of London, London, UK

In this paper, a new nonlinear q controller synthesis algorithm is applied to suspension and tracking control of a mobile vehicle. It is well known that the traditional H controller for a linear system consists of a full-state estimate-based linear feedback control law and an H state estimator. The feedback control law is synthesized by solving an algebraic Riccati equation, whereas the estimator is similar in form to a Kalman filter (KF). The nonlinear controller is obtained by synthesizing a “frozen” or “semifrozen” estimated state optimal control law, replacing the estimator by a nonlinear filter, and obtaining the estimates by applying the unscented transformation. The resulting controller is a nonlinear controller. The results indicate that, in the case of the closed-loop nonlinear H controller, the estimator tracks the platform position to within 2% of the setpoint. When the H estimator is combined with methods involving the control law synthesis based on replacing the nonlinear optimal control problem by a sequence of linear optimal control problems, a powerful computational tool may be established for synthesizing control laws for a variety of nonlinear controller synthesis applications.

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Vehicular Technology, IEEE Transactions on  (Volume:61 ,  Issue: 4 )