Path-following enhancement of an 8×8 combat vehicle using active rear axles steering strategies

Active rear steering has been used in many research work to enhance ground vehicles’ lateral stability. However, there is a shortage the published studies that consider incorporation of active for autonomous vehicles applications, especially case multi-axle combat vehicles. In this paper, various H ∞ controllers are developed actively steer axles vehicle using linearized bicycle model. The proposed incorporated with 22 degrees Freedom nonlinear Trucksim full model study and compare controllers’ performance on hard surface. Moreover, frequency-domain analysis conducted investigate influence path-following robustness terms stability performance. Three designed, where first controller applied front two vehicle, while fixed. second all-wheel vehicle. third an integration between designed controller. Eventually, series virtual maneuvers performed evaluate effectiveness intended present advantages limitations each at different driving conditions.