Liu, Yujie (Dalian University of Technology), Song, Hongbo (Dalian University of Technology), Qi, Gengxin (Dalian University of Technology), Yue, Ming (Dalian University of Technology)

H∞-Based Robust Path Tracking Control for Tractor-Trailer Trucks Considering Trailer Sway

Scheduled for presentation during the Regular session "Vehcile Control II" (ThB3), Thursday, October 31, 2024, 13:50−14:10, Room T3

7th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, Oct 30 - Nov 1, 2024, Dalian, China

This information is tentative and subject to change. Compiled on May 16, 2025

Abstract

This paper proposes a H∞-based robust control method for tractor-trailer truck path tracking that can effectively attenuate the trailer sway behavior. Firstly, the path tracking control system of the tractor-trailer truck is established, where the hitch angle and hitch angle rate are introduced into the system state to mitigate the trailer sway behavior. On this basis, a H∞-based robust controller is proposed to enhance tracking performance and robustness subject to the impact of disturbances, such as uncertainty parameter, modeling error, and curvature variation. Then, based on the H∞ theory, the design criterion of the proposed H∞-based robust controller is established to solve the controller gain. Finally, the validity of the proposed method is evaluated by the Trucksim-Simulink co-simulation, where the simulation results demonstrate that the proposed method is more effective and robust than the existing baseline control method.