Quantized Output Feedback Control of AFS for Electric Vehicles With Transmission Delay and Data Dropouts

This article proposes a robust $\mathcal {H}_\infty $ output feedback control strategy to improve vehicle lateral stability through active front wheel steering with quantization error, transmission delay and data dropouts. Since vehicle lateral dynamics presents inherently uncertain challenges, the polytopic technique is used and the variation of tire cornering stiffness is compensated via norm-bounded uncertainty. Meanwhile, considering that the measurement outputs are inevitably suffer from network-induced constrains, i.e. the quantization error, transmission delay and data dropouts, which degrade the stability and handling performance of vehicle, a robust gain-scheduling $\mathcal {H}_\infty $ output feedback controller design strategy is proposed and the stability conditions are presented in the form of linear matrix inequalities that are derived from Lyapunov asymptotic stability and quadratic $\mathcal {H}_\infty $ performance. Finally, two simulation cases are carried out with MATLAB/Simulink-Carsim to validate the effectiveness of the proposed method.