The uncertain model of the vehicle including roll and wheel rotation was established. By actively controlling the steering system angle and independently controlling the wheel brake torque, the integrated control design was carried out by using H2/H∞ mixed robust control theory based on LMI method and was compared with H2 control and H∞ control. The simulation results indicated that the H2/H∞ mixed robust control not only had robust stability to the system uncertainty, but also effectively curbed external disturbance and improved the system dynamic performance well.
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张孝祖,李辉,蔡双飞.四轮转向车辆H2/H∞混合鲁棒控制与仿真[J].农业机械学报,2008,39(8):14-17.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(8):14-17