Robust Lateral Control of long-combination vehicles under Moments of Inertia and Tire Cornering Stiffness Uncertainties
Artikel i vetenskaplig tidskrift, 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 an  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

Författare

Maliheh Sadeghi Kati

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Hakan Köroglu

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Jonas Fredriksson

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Vehicle System Dynamics

0042-3114 (ISSN)

Styrkeområden

Transport

Ämneskategorier

Farkostteknik

Reglerteknik

DOI

10.1080/00423114.2018.1552363

Mer information

Senast uppdaterat

2018-12-17