Decentralised Control Design of Lateral and Vertical Vehicle Dynamics using Passivity

In this paper, we present a novel methodology to design block-diagonal stable decentralised controllers based on the KalmanYakubovich-Popov lemma. The approach yields closed-loop systems that are robust with respect to parameter uncertainty and structural perturbations. We demonstrate the methodology by designing controllers for the lateral and vertical subsystems of a vehicle emulator; namely, a test vehicle that can mimic the behaviour of a wide range of vehicles.