ROBUST CONTROL OF AN A-DOUBLE WITH ACTIVE DOLLY BASED ON STATIC OUTPUT FEEDBACK AND DYNAMIC FEED-FORWARD
Paper in proceedings, 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.

Author

Maliheh Sadeghi Kati

Chalmers, Signals and Systems, Systems and control, Mechatronics

Hakan Köroglu

Chalmers, Signals and Systems, Systems and control, Mechatronics

Jonas Fredriksson

Chalmers, Signals and Systems, Systems and control, Mechatronics

14th International Heavy Vehicle Transport Technology Symposium

Subject Categories

Control Engineering

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Created

10/8/2017