Design of heavy vehicle control system based on H∞ mixed sensitivity

Aiming at the problem of perturbation of parameters in the mathematical model of lateral control of heavy vehicles, this paper designs an H∞ robust controller according to the hybrid sensitivity design idea, and laterally controls the four-degree-of-freedom heavy vehicle lateral-pendulum-roll coupling dynamic simulation model. Simulation results show that the controller can maintain good robustness and anti-interference ability when the parameters of the lateral control of heavy vehicles are perturbed, which provides a theoretical basis and certain reference value for solving the model uncertainty in the lateral control of heavy vehicles.