中文摘要：

通过灵敏度分析,揭示了诸物理参数对4自由度侧倾横摆线性载货汽车模型特征值的影响,从而得到对系统特征值影响最大的参数变量。运用线性矩阵不等式理论求得混合保性能控制器增益,建立了考虑不确定参数的混合H2/H∞保性能PI控制前轮主动转向模型。通过对控制前后名义参数和随机参数摄动下不确定模型的仿真分析,验证了该方法的鲁棒性及有效性。

英文摘要：

Sensitivity analyses are performed to reveal the effects of various physical parameters on the eigenvalues of 4-DOF roll-yaw linear model for trucks,and the parameters having greatest impact on system eigenvalues are obtained.Based on linear matrix inequalities theory,the controller gains satisfying the mixed guaranteed cost performance are obtained;and an active front steering model is built with mixed H2/H∞ guaranteed cost PI control and uncertain parameters.Simulations on uncertainty model with and without control under perturbations of nominal and random parameters are performed and the results verify the effectiveness and robustness of the control scheme.