Robust Static Output Feedback with Dynamic Disturbance Feed-forward for Lateral Control of Long-combination Vehicles At High Speeds
Bibliographic record
Abstract
Abstract A control strategy is proposed to improve the high-speed lateral performance of an A-double (tractor-semitrailer-dolly-semitrailer) combination vehicle using active steering of the front axle of the dolly. The strategy is realized as a H∞-type static output feedback combined with dynamic feed-forward. The static output feedback synthesis is based on a previous work from the literature, while novel linear matrix inequality (LMI) conditions have been derived for dynamic feed-forward synthesis that can also be used for uncertain systems. The proposed controller has a simple structure and is easy to implement from a practical point of view since it requires only the driver steering angle (for feed-forward) and just one articulation angle measurement (for feedback). Obtained using a high-fidelity vehicle model, the synthesis results confirm a significant reduction in the rearward amplifications of the yaw rate and the lateral acceleration as well as the high-speed transient off-tracking during sudden lane change maneuvers.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.002 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".