H∞ Loop Shaping Robust Control For Tractor-semitrailer

Abstract

The tractor-semitrailer model is general described and analyzed in road reference coordinate system. The lateral error of look-ahead distance has been chosen as nominal plant and a robust controller using H∞ loop-shaping procedure is designed which can ensure the maximum stability margin meet the performance requirements. The results show that the controller can make the tractor-semitrailer stable under perturbed conditions and can guarantee the look-ahead lateral offset keeping in the specified scope proposed. The target of lateral control is satisfactory.