Multi - Objective robust control for 4WS cars

Abstract

The problem of robust regional stabilization with simultaneous robust triangular decoupling (RRSRTD) for a four wheel steering car (4WS) is studied. First the robust triangular technique is applied to the 4WS car in order to control independently the lateral acceleration from the yaw rate. Second the robust regional stabilization technique is applied to the resulting SISO subsystems. It is proven that the RRSRTD problem is always solvable.