H2/Hinf robust lateral control of an off-road two-steering-axle vehicle on slippery sloping soils
| Autor: | Romain LEGRAND, Fabien CLAVEAU, Philippe CHEVREL, Benjamin RANCINANGUE, Anthony DOLLET |
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| Přispěvatelé: | Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Commande, Observation, Diagnostic et Expérimentation (LS2N - équipe CODEx), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Nantes Université (Nantes Univ), Secom Engineering |
| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: | |
| Zdroj: | IFAC-Papers ROCOND 2022: 10th IFAC Symposium on Robust Control Design ROCOND 2022: 10th IFAC Symposium on Robust Control Design, Aug 2022, Kyoto, Japan. pp.187-192, ⟨10.1016/j.ifacol.2022.09.345⟩ |
| Popis: | International audience; 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. |
| Databáze: | OpenAIRE |
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