Two steps h controller synthesis for tractor-semitrailer lateral control
Type de document
COMMUNICATION AVEC ACTES INTERNATIONAL (ACTI)
Résumé / Abstract
This paper addresses the problem of tractor-semitrailer control using two degrees of freedom h optimization. The synthesis procedure allows the separate processing of the robust stabilization problem and reference signal or disturbance rejection. The closed loop part achieves the robust stability requirement in the gap metric, while the prefilter part processes the reference signal and is designed to achieve model matching. The model used for control development is first presented, this model includes actuator delays and parameters variations. The synthesis steps are then detailed, the performances and the robustness of the controller are finally investigated by considering several maneuver such as lane keeping and lane change with parameter variations.