Repetitive control design for vehicle lateral dynamics with state-delay

摘要: In this work, the authors precisely concentrate on subject of enhanced vehicle handling performance bicycle model with two-degrees-of-freedom via improved-equivalent-input-disturbance and repetitive control technique. To be specific, estimator is inserted into controller design for attenuating effect crosswind in considered system state-delay. A modified two-dimensional implemented improving accurate tracking model. particular, by combining an approach together design, steering angles front rear wheels have been controlled order to achieve states. The criteria robust asymptotic stability basis Lyapunov theory developed means sufficient conditions which are obtained form linear-matrix-inequalities. Simultaneously, through these inequality conditions, parameters proposed based strategy designed against effect. Finally, simulation results presented show that more effective when aperiodic disturbances occur.