Nonlinear H-Infinity Control Strategy for Differential Braking System of a Passenger Car

Ali Fellah Jahromi, Wen-Fang Xie, and Rama B. Bhat


Handling Model, Differential Braking System, Nonlinear HInfinity, Linear Matrix Inequality


In this study, handling capability of passenger cars is studied using a seven Degree of Freedoms (DOF) nonlinear vehicle model considering Dugoff formula as tire forces. A differential braking system is developed to apply the direct yaw moment and to keep the vehicle stable for severe handling manoeuvres. Considering the nonlinear governing equations and vehicle tire model, a nonlinear H-infinity control strategy is designed based on Hamiltonian-Jacobi-Isaacs (HJI) method using Linear Matrix Inequality (LMI) approach. The robust controller is designed to minimize the yaw rate about the centre of gravity of vehicle and to handle the uncertainties due to the tire forces. The performance of the proposed controller is demonstrated by the simulation for different handling manoeuvres using numerical data.

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