Design of a Robust Load-dependent Steering Controller for Improved High Capacity Vehicle Safety
Paper in proceeding, 2021

This paper proposes a robust load-dependent controller synthesis to improve the lateral stability and performance of an A-double vehicle (tractor-semitrailer-dolly-semitrailer) at high speeds and consequently road safety by active steering of the dolly unit. The mass of the semitrailers resides in an interval between empty and fully-loaded scenarios and can be measured online. The yaw moments of inertia of the semitrailers can significantly change depending on loading conditions. In order to design a gain-scheduled controller with the mass of the semitrailers as scheduling parameters and to guarantee the system performance against the yaw moment of inertia variations in the semitrailers, a linear matrix inequality (LMI)-based design framework has been utilized. In this formulation, a descriptor-form representation of the vehicle model is used in order to avoid dealing with rational parameter dependency. The controller synthesis is formulated as an H∞-type static output feedback (SOFB), which uses information from one articulation angle which is easily measurable in practice. The simulations results indicate significant improvements in the high-speed lateral performance of the A-double in various loading conditions by suppressing undesired oscillations in the yaw rate of the last semitrailer during sudden lane change manoeuvres.

Vehicle safety

Linear matrix inequalities


Stability analysis

System performance

Road safety



Maliheh Sadeghi Kati

Chalmers, Electrical Engineering, Systems and control

Jonas Fredriksson

Chalmers, Electrical Engineering, Systems and control

Bengt J H Jacobson

Chalmers, Mechanics and Maritime Sciences (M2), Vehicle Engineering and Autonomous Systems

Leo Laine

Chalmers, Mechanics and Maritime Sciences (M2)

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

9781728191423 (ISBN)

24th IEEE International Conference on Intelligent Transportation - ITSC2021
Indianapolis, IN, USA,

Subject Categories

Mechanical Engineering

Control Engineering



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