A minimax tracking design for wheeled vehicles with trailer based on adaptive fuzzy elimination scheme

A robust tracking control design for wheeled vehicle systems with trailer, based on adaptive fuzzy elimination technique, is proposed in this study. A minimax control equipped with adaptive fuzzy elimination scheme is used to achieve a robust tracking performance, despite the system uncertainties an d external disturbance. The design procedure is divided into three steps. F irst, a nominal wheeled vehicle control design is obtained via model refere nce tracking with desired eigenvalue assignment. Second, a fuzzy logic syst em is constructed, which is subsequently tuned to eliminate the nonlinear u ncertainties as much as possible, in order to enhance the tracking robustne ss. Finally, a minimax control scheme is specified to optimally attenuate t he worst case effect of the residue of fuzzy elimination on tracking error below a desired level to meet a robust tracking performance. An adaptive fu zzy-based H-infinity optimization theory has been employed to solve the min imax problem. A simulation experiment of the wheeled vehicle with trailer i s also presented in order to illustrate the tracking performance of the pro posed design method.