A feedback-feed-forward steering control strategy for improving lateral dynamics stability of an A-double vehicle at high speeds
Artikel i vetenskaplig tidskrift, 2022

A control strategy based on H∞-type static output feedback combined with dynamic feed-forward is proposed to improve the high-speed lateral performance of an A-double combination vehicle (tractor–semitrailer–dolly–semitrailer) using active steering of the front axle of the dolly. Both feedback and feed-forward syntheses are performed via Linear Matrix Inequality (LMI) optimisation. From a practical point of view, the proposed controller is simple and easy to implement, despite its theoretical complexity. In fact, the measurement of the driver steering angle and only one articulation angle are required for the feed-forward and the feedback controllers, respectively. The results are verified using a high-fidelity vehicle model and confirm a significant reduction in yaw rate and lateral acceleration rearward amplification and also high-speed transient off-tracking, and subsequently improving the lateral stability and performance of the A-double combination vehicle during sudden lane change manoeuvres.

active dolly steering

Static output feedback

LMI-based H∞ synthesis

rearward amplification

dynamic feed-forward


Maliheh Sadeghi Kati

Chalmers, Elektroteknik, System- och reglerteknik

Jonas Fredriksson

Chalmers, Elektroteknik, System- och reglerteknik

Bengt J H Jacobson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Leo Laine

Volvo Group

Vehicle System Dynamics

0042-3114 (ISSN) 1744-5159 (eISSN)

Vol. 60 11 3955 -3976




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