Abstract:This paper proposes an optimized lateral control design of a two-steering-axle off-road vehicle. An extension of the well-known bicycle model is introduced that considers two steering axles and the slope of the local ground. Lateral deviation controllers are thereby synthesized to quantitatively evaluate the use of multiple steering angles. The proposed multi-input multi-output feedback controllers originate from a H2/Hinf multi-objective synthesis, achieving optimum tradeoffs between performance and robustnes… Show more
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