ROBUST CONTROL OF AN A-DOUBLE WITH ACTIVE DOLLY BASED ON STATIC OUTPUT FEEDBACK AND DYNAMIC FEED-FORWARD

Paper in proceeding, 2016

A steering-based control is proposed for improving the lateral performance of an A-double combination with an active dolly. The controller is based on static output feedback combined with dynamic feed-forward and is designed to ensure an H ∞ performance objective in the face of parametric uncertainty. The synthesis is per- formed via linear matrix inequality (LMI) optimizations. Two feed-forward design methods are proposed and one of them is highlighted as the more rigorous approach for dealing with parametric uncertainty. The verification results confirm a significant reduction in rearward amplification of yaw rates and high speed transient off-tracking even when the dynamic feed-forward from the tractor steering angle accompanies the static feedback only from the articulation angles.