Robust Lateral Control of long-combination vehicles under Moments of Inertia and Tire Cornering Stiffness Uncertainties
Journal article, 2018

A robust steering-based controller synthesis is presented for an A-double combination vehicle with a steerable dolly. The controller ensures robust stability and performance in the face of uncertainties in the cornering stiffness of the tyres and the moments of inertia of the semitrailers, which are treated as time-varying and time-invariant parameters respectively. A descriptor-type representation of the system is employed since a standard state-space model depends rationally on the moments of inertia. The controller synthesis is formulated as anĀ  Hinfinity-type static output feedback, which uses information from only one articulation angle. The driver steering input is also used by including a static feed-forward. The proposed synthesis method is based on linear matrix inequality (LMI) optimisation. The controller is verified based on the simulation results obtained from both (approximate) linear and (high-fidelity) nonlinear vehicle models. The results indicate significant improvement in the high-speed lateral performance of the A-double in the presence of parametric uncertainties.

rearward amplification and parametric uncertainty

Robust lateral control

static output feedback

active dolly

Author

Maliheh Sadeghi Kati

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Hakan Köroglu

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Jonas Fredriksson

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Vehicle System Dynamics

0042-3114 (ISSN)

Areas of Advance

Transport

Subject Categories

Vehicle Engineering

Control Engineering

DOI

10.1080/00423114.2018.1552363

More information

Latest update

12/17/2018