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

Abstract

A robust steering-based controller synthesis is presented for an Adouble 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.

A demodulation algorithm for processing rotational inertia signals using a torsion pendulum method based on differentiation and resonance frequency analysis

“…By denoting the nth local maximum point (or minimum point) of an oscillation signal as t n , and the corresponding angular displacement as θ n , equation (7) can be used to calculate the dominant frequency k I − c 2I 2 and the exponential amplitude modulation parameter − c 2I . In equation (7), the dominant frequency is denoted by ω p , and the amplitude modulation parameter is denoted by ξ:…”

“…Inertia properties are important design parameters for attitude control and kinematics analysis of aerospace vehicles, aircraft, automobiles, trucks and robots [2][3][4][5][6][7][8]. They are also regarded as key factors in the development of motors [9], power generators [10], etc.…”

Pengaturan Kemudi yang Robust terhadap Ketidakpastian Parameter Internal pada Mobil Otonom

“…Parameter lain yang sulit diestimasi atau diukur secara akurat adalah konstanta kekakuan menikung (cornering stiffness). Beberapa faktor yang mempengaruhi variasi parameter ini adalah muatan, tekanan udara pada roda, permukaan jalan, kondisi cuaca, dan lain-lain [5]. Riset sebelumnya mengenai kontrol kemudi, [6] menggunakan kompensator lead-lag dengan pendekatan root…”

Data-Driven Interaction-Aware Behavior Prediction for Autonomous Vehicles

“…These uncertainties in question could stem from several different sources. One such uncertainty could be built into the navigation system itself, possibly because of erroneous vehicle motion models (Sadeghi Kati et al, 2019, Tai and Tomizuka, 1999, Westny et al, 2022. Additional sources of uncertainty are attributed to the vehicles' immediate environment, such as unknown weather conditions (Almalioglu et al, 2022, Fagnant andKockelman, 2015), or road-friction coefficient (Svensson and Törngren, 2021).…”