A Robust H-infinity Control Approach of Uncertain Tractor Trailer System

摘要

This paper proposes a robust H-infinity control strategy for a differential drive Tractor with a single Trailer unit. This articulated vehicle being a complicated non holonomic system, the number of control inputs is less compared to the number of generalized coordinates. A linearized nominal model for this system is obtained by combining the kinematics and dynamics. A robust H-infinity output feedback control is designed using mu synthesis for the nominal plant when subjected to model uncertainties in unstructured form and output disturbances. Analysis on the robust uncertain closed-loop system is performed in both time and frequency domains. The simulation results indicating satisfactory stability and performance are presented. The step response and reference tracking are also found to be satisfactory.