Robust H∞ lateral control of heavy-duty vehicles in automated highway system

This paper deals with the robust steering control problem for heavy-duty vehicles (HDV) in automated highway system (AHS) using a H _∞ loop shaping design procedure. In particular, a robust H_∞ steering controller utilizing the virtual-look-ahead methodology is designed for a tractor-semitrailer to track the road centerline on both curved and straight highway sections. It is robust to the model uncertainties which consist of vehicle longitudinal speed, road adhesion coefficient and cargo loads in the trailer. Numerical simulations and experiments on a test truck show the effectiveness of the proposed controller