Section: New Results
Observer-based stabilization for lateral vehicle control
Participants : Ali Zemouche, Rajesh Rajamani [University of Minneapolis, USA] , Yan Wang [University of Minneapolis, USA] .
Recently, motivated by autonomous vehicle control problem, a robust observer based estimated state feedback control design method for an uncertain dynamical system that can be represented as a LTI system connected with an IQC-type nonlinear uncertainty was developed. Different from existing design methodologies in which a convex semidefinite constraint is obtained at the cost of conservatism and unrealistic assumptions, the design of the robust observer state feedback controller is formulated in this paper as a feasibility problem of a bilinear matrix inequality (BMI) constraint. Unfortunately, the search for a feasible solution of a BMI constraint is a NP hard problem in general. The applicability of the linearization method, such as variable change method or congruence transformation, depends on the specific structure of the problem at hand and cannot be generalized. A new sequential LMI optimization method to search for a feasible solution was established. A vehicle lateral control problem was presented to demonstrate the applicability of the proposed algorithm to a real-world estimated state feedback control design.