Continuous-Time and Discrete-Time Switched H∞ State Feedback Controllers: Application for a Robust Steering Vehicle Control

Two control laws for switched uncertain linear systems are proposed: firstly, a continuous-time switched H∞ state feedback control is given, and secondly, a discrete-time H∞ state feedback control. These controllers are designed using a common Lyapunov function approach and switched Lyapunov function approach used for switched continuous-time and switched discrete-time linear systems respectively. All sufficient conditions of the existence of these controllers are proved and given in term of LMIs. These conditions are provided for an arbitrary switching rule. The lateral control via steering vehicle control is implemented to control simultaneously lateral deviation and yaw motion of the vehicle. In fact, a validation of these two controllers is performed using experimental data acquired by laboratory vehicle under high lateral accelerations.