H2/Hinf robust lateral control of an off-road two-steering-axle vehicle on slippery sloping soils - Archive ouverte HAL Access content directly
Conference Papers Year : 2022

H2/Hinf robust lateral control of an off-road two-steering-axle vehicle on slippery sloping soils

Abstract

This paper presents an efficient design for a lateral control synthesis of an off-road vehicle. The considered vehicles have two steering axles and are intended to move on a slippery soil with important lateral and longitudinal slopes. The proposed design relies on an extended bicycle model that accounts for the slopes. The lateral control is designed based on a feedforward/feedback architecture. The feedforward takes advantage of the knowledge of the path characteristics (curvature and slopes), and the feedback ensures robust reference-trajectory tracking. Through an H2 /H∞ multi-objective synthesis, the robustness of the lateral controller is ensured with regard to the model uncertainties, path, and soil features. This is important because off-road vehicles’ dynamics are by nature highly variable. To cope with the difficulty caused by uncertain knowledge of key parameters, the proposed robust approach is a practical compromise that maximizes performance under constraints of robustness. The results obtained on a realistic non-linear simulator support this assertion.
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Dates and versions

hal-03655220 , version 1 (11-04-2023)
hal-03655220 , version 2 (20-04-2023)

Identifiers

Cite

Romain Legrand, Fabien Claveau, Philippe Chevrel, Benjamin Rancinangue, Anthony Dollet. H2/Hinf robust lateral control of an off-road two-steering-axle vehicle on slippery sloping soils. ROCOND 2022: 10th IFAC Symposium on Robust Control Design, Aug 2022, Kyoto, Japan. pp.187-192, ⟨10.1016/j.ifacol.2022.09.345⟩. ⟨hal-03655220v2⟩
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