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Villegas, Carlos, Shorten, Robert N., Corless, Martin, Readman, Mark and Solmaz, Selim (2008) Decentralised Control Design of Lateral and Vertical Vehicle Dynamics using Passivity. Proceedings in Applied Mathematics and Mechanics, 8 (1). pp. 10149-10150.
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Abstract
In this paper, we present a novel methodology to design block-diagonal stable decentralised controllers based on the Kalman-Yakubovich-Popov lemma. The approach yields closed-loop systems that are robust with respect to parameter uncertainty and structural perturbations. We demonstrate the methodology by designing controllers for the lateral and vertical subsystems of a vehicle emulator; namely, a test vehicle that can mimic the behaviour of a wide range of vehicles.
| Item Type: | Article |
|---|---|
| Academic Unit: | Faculty of Science and Engineering > Research Institutes > Hamilton Institute Faculty of Science and Engineering > Mathematics and Statistics |
| Item ID: | 1265 |
| Identification Number: | DOI 10.1002/pamm.200810149 |
| Depositing User: | Selim Solmaz |
| Date Deposited: | 26 Feb 2009 14:59 |
| Journal or Publication Title: | Proceedings in Applied Mathematics and Mechanics |
| Publisher: | WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim |
| Refereed: | Yes |
| Funders: | EU, EI, SFI |
| Related URLs: | |
| URI: | https://mu.eprints-hosting.org/id/eprint/1265 |
| Use Licence: | This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here |
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