A feedback-feed-forward steering control strategy for improving lateral dynamics stability of an A-double vehicle at high speeds

A control strategy based on H?-type static output feedback combined with dynamic feed-forward is proposed to improve the high-speed lateral performance of an A-double combination vehicle(tractor–semitrailer–dolly–semitrailer) using active steering front axle dolly. Both and syntheses are performed via Linear Matrix Inequality (LMI) optimisation. From a practical point view, controller simple easy implement, despite its theoretical complexity. In fact, measurement driver angle only one articulation required for controllers, respectively. The results verified high-fidelity vehicle model confirm significant reduction in yaw rate acceleration rearward amplification also transient off-tracking, subsequently improving stability during sudden lane change manoeuvres.