Dynamic-Observer-Based Control for Uncertain Vehicle Systems with Disturbances

Abstract

This paper addresses the stabilization problem of uncertain vehicle systems in the presence of disturbances, on the basis of $H_{\infty}$ dynamic observer (HDO). Based on the parameterizations of algebraic constraints, the control design problem is reduced to the determination of two parameter matrices. By using Lyapunov function approach and Schur complement lemma, the determination is formed as a bilinear matrix inequality (BMI) optimization problem. A numerical example is presented to illustrate the control design procedure and its performance.