H-2 - H-infinity Static Output feedback control for Vehicle Chassis Stability with input saturation

Abstract : This paper describes an output feedback control with input constraints for a lateral and roll vehicle dynamics model in critical motions. The variation of the road adhesion coefficient is considered. To this, a T-S disturbed model is proposed and a static output feedback control is designed with assuming that the lateral velocity and the roll angle are unavailable for measurement. The designed controller not only ensures the stability of the resulting closed loop system but also the H-2 - H-infinity performances. Based on Lyaponov theory, the controller gains are obtained by solving a set of Linear matrix inequalities (LMIs) constraints. The proposed techniques have been evaluated using a bicycle model with four degrees of freedom using Matlab software.