Imperial College London
Alternate

DrSimosEvangelou

Faculty of Engineering, Department of Electrical and Electronic Engineering

Reader in Systems Engineering
 
 
 
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Contact

 

+44 (0)20 7594 6285s.evangelou Website

 
 
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Location

 

1108BElectrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Jiang:2017:10.1016/j.ifacol.2017.08.049,
author = {Jiang, J and Evangelou, SA and Torquil, MR and Astolfi, A and Jiang, J and Evangelou, SA and Torquil, MR and Astolfi, A},
doi = {10.1016/j.ifacol.2017.08.049},
journal = {IFAC papers online},
pages = {297--302},
title = {Robust H-infinity control for autonomous scooters},
url = {http://dx.doi.org/10.1016/j.ifacol.2017.08.049},
volume = {50},
year = {2017}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - This paper studies the trajectory tracking problem for the nonlinear model of a scooter and presents a robust H∞ controller based on measurements of the tracking errors, the roll angle, the yaw angle and the steering angle. The study first introduces the full nonlinear model developed in Autosim which has 12 degrees of freedom. This is far more complex than a simple bicycle model and provides a good description of the scooter. Then a robust H∞ controller based on the linearization of the nonlinear model is designed. Finally, the effectiveness of the controller is verified by means of two case studies.
AU  - Jiang,J
AU  - Evangelou,SA
AU  - Torquil,MR
AU  - Astolfi,A
AU  - Jiang,J
AU  - Evangelou,SA
AU  - Torquil,MR
AU  - Astolfi,A
DO  - 10.1016/j.ifacol.2017.08.049
EP  - 302
PY  - 2017///
SN  - 1474-6670
SP  - 297
TI  - Robust H-infinity control for autonomous scooters
T2  - IFAC papers online
UR  - http://dx.doi.org/10.1016/j.ifacol.2017.08.049
UR  - http://hdl.handle.net/10044/1/54586
VL  - 50
ER  -
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