Robust detection of steering wheel disturbance

  • Authors:

  • Ahmad Akbari;Boris Lohmann

  • Affiliations:

  • Technical University of Munich, Germany;Technical University of Munich, Germany

  • Venue:
  • MIC '08 Proceedings of the 27th IASTED International Conference on Modelling, Identification and Control
  • Year:
  • 2008

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Abstract

This paper concerns with the robust detection of the disturbance applied to a vehicle steer wheel. The study is specially useful for active vehicle suspensions utilizing wheel-base preview information. To care for the wide range of road irregularities, an H∞-norm based scheme is proposed to design the estimator. The problem is formulated using LMI's and allows consideration of parameter variations in the design, in fact a self-scheduled LPV estimator is obtained in this study. Moreover, to ensure desired transient dynamics for the estimator, some pole location constraints are considered. To evaluate the effectiveness of the proposed controller it is compared with a Kalman estimator designed under similar conditions. The results demonstrate robustness of the proposed estimator.