Robust detection of steering wheel disturbance

This paper concerns with the robust detection of the disturbance applied to a vehicle steer wheel. The study is specially useful for active vehicle suspensions utilizing wheelbase preview information. To care for the wide range of road irregularities, an H_∞-norm based scheme is proposed to design the estimator. The problem is formulated using LMI's and allows consideration of parameter variations in the design, in fact a self-scheduled LPV estimator is obtained in this study. Moreover, to ensure desired transient dynamics for the estimator, some pole location constraints are considered. To evaluate the effectiveness of the proposed controller it is compared with a Kalman estimator designed under similar conditions. The results demonstrate robustness of the proposed estimator.