Robust lateral control of long-combination vehicles under moments of inertia and tyre cornering stiffness uncertainties

M. Sadeghi Kati*, H. Köroğlu, Jonas Fredriksson

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

3 Citations (Scopus)

Abstract

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 H∞-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.
Original languageEnglish
Pages (from-to)1847-1873
Number of pages27
JournalVehicle system dynamics
Volume57
Issue number12
DOIs
Publication statusPublished - Dec 2019
Externally publishedYes

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