Improved multiobjective switching gain‐scheduled controller synthesis exploiting inexact scheduling parameters

2020 ◽  
Vol 30 (17) ◽  
pp. 7706-7730
Author(s):  
Reza Yavari ◽  
Arash Sadeghzadeh ◽  
Saeed Shamaghdari
Keyword(s):  
Controller Synthesis ◽  
Gain Scheduled Controller ◽  
Gain Scheduled

Gain-scheduled H∞ controller synthesis for actively steered longer and heavier commercial vehicles

2019 ◽  
Vol 234 (7) ◽  
pp. 2045-2065
Author(s):  
Maliheh Sadeghi Kati ◽  
Jonas Fredriksson ◽  
Bengt Jacobson ◽  
Leo Laine
Keyword(s):  
High Speed ◽  
Longitudinal Velocity ◽  
Controller Synthesis ◽  
Lateral Acceleration ◽  
Linear Matrix ◽  
Heavy Vehicles ◽  
Active Steering ◽  
And Performance ◽  
Gain Scheduled Controller ◽  
Gain Scheduled

This paper proposes a gain-scheduled controller synthesis for improving the lateral performance and stability of articulated heavy vehicles by active steering of the selected towed vehicle units. The longitudinal velocity is on-line measurable, and it is thus treated as a scheduling parameter in the gain-scheduled controller synthesis. The lateral performance of four articulated heavy vehicles, including existing Nordic heavy vehicles and prospective longer articulated heavy vehicles, are investigated with and without active steering and compared with a commonly used conventional tractor–semitrailer. The control problem is formulated as an [Formula: see text] static output feedback, which uses only information from articulation angles between the steered vehicle unit and the vehicle unit in front of it. The solution of the problem is obtained within the linear matrix inequality framework, while guaranteeing [Formula: see text] performance objectives. Effectiveness of the designed controller is verified through numerical simulations performed on high-fidelity vehicle models. The results confirm a significant reduction in yaw rate rearward amplification, lateral acceleration rearward amplification, and high-speed transient off-tracking, thereby improving the lateral stability and performance of all studied heavy vehicles at high speeds.

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