ROBUST CONTROL OF AN A-DOUBLE WITH ACTIVE DOLLY BASED ON STATIC OUTPUT FEEDBACK AND DYNAMIC FEED-FORWARD

• A steering-based control is proposed for improving the lateral performance of anA-double combination with an active dolly. The controller is based on static outputfeedback combined with dynamic feed-forward and is designed to ensure an H ∞performance objective in the face of parametric uncertainty. The synthesis is per-formed via linear matrix inequality (LMI) optimizations. Two feed-forward designmethods are proposed and one of them is highlighted as the more rigorous approachfor dealing with parametric uncertainty. The verification results confirm a significantreduction in rearward amplification of yaw rates and high speed transient off-trackingeven when the dynamic feed-forward from the tractor steering angle accompaniesthe static feedback only from the articulation angles.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

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