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

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