On Robust Steering Based Lateral Control of Longer and Heavier Commercial Vehicles
Doctoral thesis, 2018

Rapid growth in the transportation of goods has led to raised concerns about
environmental effects, road freight traffic, and increased infrastructure usage.
The increasing cost of fuel, and issues with congestions and gas emissions,
make longer and heavier commercial vehicles (LHCVs) an attractive alter-
native to conventional heavy vehicles. However, one major issue concerning
LHCVs is their potential impact on traffic safety. A typically dangerous be-
haviour happens during evasive steering maneuvers, which causes amplified
lateral motions in the towed units. These amplified motions can lead to the
towed units’ oscillation, large offtracking and, in a worst case scenario, cause
The main objective of this thesis is to develop robust steering-based con-
trollers for improving the lateral performance of LHCVs at high speeds by
suppressing unwanted amplified motions in the towed units. Robust control
methods aim to achieve an adequate level of robustness against model un-
certainties and disturbances, while at the same time satisfying the desired
closed-loop system performance specifications. The proposed robust control
syntheses are formulated based on an H ∞ static output-feedback (SOFB)
in which only one easily measurable state variable is required. The control
synthesis problems are solved by using linear matrix inequality (LMI) op-
timizations. As the measurement of the driver steering input is available,
a combined version of SOFB and dynamic feed-forward (DFF) is also de-
veloped and several techniques for designing DFF are proposed. The theo-
retical contributions of this research mainly lie in the derivation of a novel
LMI conditions for integral quadratic constraints on the states and also in
the derivation of a set of new LMI conditions for the DFF design method.
From a practical point of view, the proposed controllers are simple and easy
to implement, despite their theoretical complexity.
The effectiveness of the designed controllers is verified through numerical
simulations performed on linear vehicle models as well as high-fidelity ve-
hicle models. The verification results confirm a significant reduction in yaw
rate rearward amplification, lateral acceleration rearward amplification and
high-speed transient off-tracking, thereby improving the lateral stability and
performance of the studied LHCVs.

Rearward Amplification

static output feedback

Commercial vehicles

LMI-based H ∞ synthesis

Dynamic Feed-forward

Robust Control

Room SB-H5, Sven Hultins Gata 6
Opponent: PROF. JOOP PAUWELUSSEN, Professor in Mobility Technology at HAN University of Applied Sciences, The Netherlands


Maliheh Sadeghi Kati

Chalmers, Electrical Engineering, Systems and control


14th International Heavy Vehicle Transport Technology Symposium,; (2016)

Paper in proceeding

H ∞ Static Output Feedback Synthesis under an Integral Quadratic Constraint with Application to High Capacity Transport Vehicles

In proceedings of European Control Conference, ECC 16,; (2017)p. 1999-2004

Paper in proceeding

Maliheh Sadeghi Kati, Hakan Köro˘ glu, Jonas Fredriksson and Mohammad Manjurul Islam, ”Robust static output feedback with dynamic feed-forward for lateral control of long-combination vehicles at high speeds,” under second revision in IEEE Transactions on Control Systems Technology.

Maliheh Sadeghi Kati, Jonas Fredriksson, Bengt Jacobson and Leo Laine, ”Gain-Scheduled H ∞ Controller Synthesis for Actively-steered Longer and Heavier Commercial Vehicles,” submitted to Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering.

Subject Categories

Transport Systems and Logistics

Vehicle Engineering

Control Engineering



Doktorsavhandlingar vid Chalmers tekniska högskola. Ny serie: 4533



Room SB-H5, Sven Hultins Gata 6

Opponent: PROF. JOOP PAUWELUSSEN, Professor in Mobility Technology at HAN University of Applied Sciences, The Netherlands

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