Browsing by Author "He, Yuping"
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Item Autonomous driving control strategies for multi-trailer articulated heavy vehicles with active safety system(2023-05-01) Rahimi, Amir; He, YupingThis study aims to develop automated driving strategies and integrated active control system for multi-trailer articulated heavy vehicles (MTAHVs) to enhance road transport efficiency, directional performance, and safety. To this end, a MTAHV with the configuration of A-train double was selected to be the subject vehicle, and the required vehicle models were generated. The corresponding nonlinear TruckSim model was employed as the virtual for co-simulations. The original contributions of the thesis in autonomous driving control of MTAHVs include: 1) a lateral preview driver model for MTAHVs was developed using the optimal preview control method; 2) a longitudinal motion-planning and control strategy using fuzzy sets was also devised; 3) an integrated control system was designed for coordinating autonomous driving and active trailer and dolly steering (ATDS) using a model predictive control (MPC) technique; and 4) a model-based predictive motion planning method was developed using the Frenet-Serret frame. The proposed lateral preview driver model may operate in two modes according to varied forward speed: i) in high-speed operations, the lateral stability is prioritized, and the high-speed and stability-oriented mode is activated; ii) while in low-speed curved path negotiations, the path-following off-tracking performance is emphasized, and the low-speed path-following mode is activated. It also takes benefits of the vehicle units’ body-fixed reference frames for lateral deviation calculations to mimic the driver’s local perception of vehicle position and reference path. If the so-called driver neuromuscular delay is set to zero, the driver model may perform as an autonomous human-like controller for vehicle lateral motion control. The devised longitudinal motion planner considers the road curvature over a preview horizon to regulate vehicle forward speed. It is featured with the predictive and compensatory throttle/brake actuations to assure all the vehicle units’ lateral stability. The MPC-based control method integrates the ATDS into the automated tractor steering and speed control, while the ATDS is activated to operate in either high-speed or low-speed mode, thereby improving the directional performance. The developed trajectory planner benefits from a model-based predictive approach to customize the generated trajectory to enhance the lateral stability in high-speed evasive maneuvers. The innovative findings of this dissertation will contribute to the advancement and development of autonomous driving control for MTAHVs.Item Coordinated control of active safety systems for multi-trailer articulated heavy vehicles(2016-06-01) Zhu, Shenjin; He, Yuping; Ren, JingTo improve the directional performance of multitrailer articulated heavy vehicles (MTAHVs), the model-based active safety systems, including the active trailer steering, trailer differential braking and the active roll control are developed. The active safety systems are integrated and coordinated for optimal overall performance. The coordinated control system is designed in a modular, hierarchical and multilevel approach. At the upper level, a moment controller is designed to stabilize the yaw and the roll dynamics. At the intermediate level, an allocator is designed to distribute the demanded moments to the actuating systems. At the lower level, the active suspension system realizes the demanded roll moment, and the active trailer steering and the trailer differential braking share the demanded yaw moment. The directional performance of the MTAHV with the coordinated control system is evaluated in closed-loop simulations. A unified driver model for road vehicles is developed to ‘drive’ the vehicle in the closed-loop simulations. Considering the characteristics of the single unit and the multiunit vehicle drivers, a set of design parameters are introduced to govern the characteristics of the driver model to mimic human drivers in driving single unit and multiunit road vehicles, especially to simulate MTAHV drivers’ driving performance under a high-speed evasive and a low-speed path-following maneuvers, respectively. The directional performance of the MTAHV with the coordinated control system and the driver model may be valuated and optimized using a genetic algorithm with the performance measures in the time-domain and the frequency-domain, thanks to the introduction of the automated frequency response measuring method (AFRM) into the articulated heavy vehicle dynamics. The proposed design methods/techniques and findings derived from the research will contribute to the advancement of active safety systems for MTAHVs.Item Design and analysis of active aerodynamic control systems for increasing the safety of high-speed road vehicles(2019-07-01) Hammad, Mohammed; He, YupingThe lateral stability and the safety of road vehicles is dependent on the vehicle design and operating conditions. Under operating conditions such as slippery roads, high lateral acceleration and tight cornering, the forces and torques due to the interactions between the tire and road may be saturated. Various active safety systems have been proposed and developed to mitigate these concerns but they all work based on the manipulation of tire forces. Thus, the capability of the current active safety systems cannot go beyond the performance limitation determined by the interactions between the tire and road. On the other hand, at high speeds, significant downforce can be generated by employing aerodynamic wings on the vehicle body to enhance its road holding ability. A split rear wing is proposed to control the aerodynamics of high-speed road vehicles to closely manipulate the dynamics of the vehicle. A nonlinear vehicle model is derived to simulate the vehicle’s lateral dynamics and an airfoil with a high lift to drag ratio is used to design the rear wing. A sliding mode control technique is used to design the active aerodynamic controller to achieve the objective of tracking the desired steady-state yaw rate. The selection of the control technique and the control objective is shown to be comprehensive and satisfactorily improve the handling performance. The controller design is validated using co-simulation implemented in the combined CarSim-MATLAB/Simulink simulation environment. Simulation results demonstrate that active aerodynamic control improves the lateral stability of the vehicle and that the improvement is more pronounced as the vehicle forward speed increases. The enhancement in lateral performance and road holding capability is also presented.Item Design and validation of active trailer steering systems for articulated heavy vehicles using driver-hardware-in-the-loop real-time simulation(2015-08-01) Wang, Qiushi; He, YupingTo improve the low-speed maneuverability and high-speed lateral stability of Double Trailer Articulated Heavy Vehicles (DTAHVs), an Active Trailer Steering (ATS) system has been designed. To date, investigations on ATS systems are mainly focused on numerical simulations. To advance this research towards real-world applications, a Driver-Hardware-In-the-Loop (DHIL) real-time simulation platform is developed for the design and validation of ATS system for DTAHVs. The real-time simulation results derived under the emulated low-speed path-following test maneuvers demonstrate the effectiveness of the DHIL platform and the distinguished features of the ATS system. This thesis examines the applicability of two single lane-change test maneuvers specified in ISO-14791 for acquiring rearward amplification, which is an important indicator for the high-speed lateral stability. Simulation results indicate that the closed-loop test is more applicable for DTAHVs with ATS systems. This thesis also proposes a new ATS controller using the model reference adaptive control technique. Numerical simulations illustrate that the proposed MRAC controller can achieve robust performance under the variations of vehicle forward speed and trailer payload.Item Design and validation of high speed active trailer steering system for articulated heavy vehicle(2016-01-01) Ni, Zhituo; He, YupingArticulated heavy duty vehicles are widely used around the world for its economic and environmental benefits. A-train double is one of the most popular heavy duty vehicles in Canada. Despite its advantages, the spread of A-train is hampered by poor lateral dynamic performance and poor accident avoid ability in highway resulted from its special structure. In order to evaluate the lateral dynamic performance of the A-train double at highway speed, ISO standards have proposed the rearward amplification (RA) measures to characterizing the performance. It has been reported that the RA curves obtained through three different methods proposed by ISO-14791 differ. This thesis studies three proposed methods in detail and analyzes the contributing causes for the inconsistency among three test maneuvers based on A-train double. In order to increase the lateral stability of the A-train double, Active steering systems (ATS) have been designed through two methods: robust LQR-LMI method with genetic algorithm (GA) optimization and H∞ method. The designed controllers are validated by numerical simulation and hardware in-loop simulation. The ATS designed from two methods show good robust stability and improve the lateral dynamic performance of A-train double dramatically at highway speed.Item Design of active trailer steering systems for long combination vehicles using robust control techniques(2017-07-01) Sikder, Tushita; He, Yuping; Ren, JingThe exponential growth in freightage and the ever-increasing traffic congestion has aided Long Combination Vehicles (LCVs) to emerge as an economical and pragmatic solution for freight transport compared to single unit vehicles. Despite their numerous merits, LCVs face certain stability challenges at high speeds and exhibit inferior maneuverability at low speeds. LCVs are especially susceptible to unstable motion modes, such as rollover, jack-knifing and trailer sway, which has escalated strong concerns regarding their safety. Therefore, it is imperative to develop safety systems with a focus on improving stability, and ensuring safety of LCVs. Active safety systems such as Active Trailer Steering (ATS), have been widely explored to overcome these stability challenges. So far, the design of ATS systems have utilised the Linear Quadratic Regulator (LQR) control technique. Although the LQR technique provides satisfactory results, it fails to control the system in presence of external disturbances such as sensor noise, parametric uncertainties, and un-modelled dynamics. This encourages the need of a robust control strategy. This research focuses on developing an ATS system for a B-train double using robust control techniques. The robust Linear Quadratic Gaussian (LQG) and the 𝜇 synthesis control techniques are employed for designing the ATS control system. The control techniques are analysed under a variety of tests by using numerical simulations. TruckSim and MATLAB/Simulink software packages are used for numerical simulations. The results suggest that the LQG control technique effectively controls the system in the presence of noise, whereas the 𝜇 synthesis control technique is able to achieve desired system performance in the presence of noise, and parametric uncertainties.Item Design of robust active trailer steering controllers for multi-trailer articulated heavy vehicles using software/hardware-in-the-loop real-time simulations(2019-08-01) Keldani, Mutaz; He, YupingDue to their remarkable economic and environmental benefits, Multi-Trailer Articulated Heavy Vehicles (MTAHVs) have been frequently adopted by the trucking industry. Despite the above advantages, MTAHVs exhibit two particular challenges concerning road safety. MTAHVs exhibit poor maneuverability at low speeds and low lateral stability at high speeds. To address these issues, an Active Trailer Steering (ATS) system using two control techniques is proposed. In recent years, the Linear Quadratic Regular (LQR) technique has been applied to the design of controllers for ATS systems of Articulated Heavy Vehicles (AHVs). In the LQR-based controller designs, all vehicle system parameters, e.g., forward speed and operating conditions, are assumed to be predefined. However, in real-life applications, the operating conditions, such as trailer payload and forward speed, may vary. Thus, the robustness of the LQR-based ATS controllers is doubted. To address this dilemma, a robust ATS controller is designed using the combined method of a Linear Matrix Inequality (LMI) and the LQR technique. To assess the robustness of the LMI+LQRbased ATS controller, the payload of the trailer and the dynamic parameters of the trailer steering actuator are introduced as the vehicle system parametric uncertainties. The performance of the proposed ATS controllers is evaluated using Software/Hardware-In-the-Loop (SHIL) real-time (RT) simulations. The results of the research indicate that the LMI+LQR-based ATS controller can achieve desired system performance under parametric uncertainties.Item Design optimization of active trailer differential braking systems for car-trailer combinations(2016-01-01) Lee, Eungkil; He, YupingThe thesis studies active trailer differential braking (ATDB) systems to improve the lateral stability of car-trailer (CT) combinations. CT combinations exhibit unique unstable motion modes, including jack-knifing, trailer sway, and roll-over. To address this CT stability problem, two ATDB controllers are proposed, which are designed using the Linear Quadratic Regulator (LQR) and 𝐻∞ robust control techniques. In order to design the ATDB controllers, a linear 3 degrees of freedom (DOF) and a linear 5-DOF model are generated and validated with a nonlinear CT model derived using CarSim software. Eigenvalue analysis is conducted to examine the effects of typical trailer parameters on the lateral stability of CT combinations. The contribution of the LQR-based ATDB controller to the enhancement of CT stability is assessed. The thesis also investigates the insensitivity of the 𝐻∞ controller to parameter uncertainties. A genetic algorithm (GA) is applied to find optimal control variables of the active safety systems. Numerical simulations demonstrate that the parametric study may provide a guideline for trailer design variable selections, and the proposed ATDB systems can effectively increase the safety of CT combinations.Item Design optimization of articulated vehicles with autonomous steering control(2022-08-01) Yu, Jiangtao; He, YupingHuman driver errors cause about 94% of traffic collisions. To increase the safety of road vehicles, extensive studies have been conducted on developing autonomous driving technologies. However, little attention has been paid to exploring autonomous articulated vehicles (AVs). This thesis proposes an approach to the design synthesis of AVs with autonomous steering. A linear yaw-plane model is generated to represent the AV, and a model predictive control (MPC) based tracking controller is designed for steering control. A stochastic modeling technique is developed using Monte-Carlo method to evaluate the performance limitations of AV dynamics. For enhancing the performance of the selfsteering AV, the design synthesis is formulated as a bi-layer design optimization problem. Particle Swarm Optimization (PSO) and Differential Evolution (DE) are introduced and tested. Selected simulation results are presented and discussed, and the insightful findings may be used as guidelines for developing autonomous driving control systems of AVs.Item Design synthesis of articulated heavy vehicles with active trailer steering systems(2010-04-01) Islam, Md. Manjurul; He, YupingA new design synthesis method for articulated heavy vehicles (AHVs) with an active trailer steering (ATS) system is examined and evaluated. Due to their heavy weights, large sizes, and complex configurations, AHVs have poor maneuverability at low speeds, and low lateral stability at high speeds. Various passive trailer steering and ATS systems have been developed for improving the low-speed maneuverability. However, they often have detrimental effects on the high-speed stability. To date, no systematic design synthesis method has been developed to coordinate the opposing design goals of AHVs. In this thesis, a new automated design synthesis approach, called a Single Design Loop (SDL) method, is proposed and investigated. The SDL method has the following distinguished features: 1) the optimal active design variables of ATS systems and the optimal passive vehicle design variables are searched in a single design loop; 2) in the design process, to evaluate the vehicle performance measures, a driver model is developed and it „drives‟ the vehicle model based on the well-defined testing specifications; and 3) the ATS controller derived from this method has two operational modes: one for improving the lateral stability at high speeds and the other for enhancing path-following at low speeds. To demonstrate the effectiveness of the new SDL method, it is applied to the design of an ATS system for an AHV with a tractor/full-trailer. In comparison to a conventional design approach, the SDL method can search through solutions in a much larger design space, and consequently it provides a more comprehensive set of optimal designs..Item Design synthesis of car-trailer systems with active trailer differential braking strategies.(2013-08-01) Sun, Tao; He, Yuping; Ren, JingTo this date, various control strategies based on linear vehicle models have been proposed and developed for improving the lateral stability of car trailer (CT) systems. Is a linear-model-based controller applicable to active safety systems for CT systems under emergency operating conditions, such as an evasive maneuver at high lateral accelerations? In order to address the problem, the following innovative investigations have been conducted: 1) a comparative study of typical linear and nonlinear CT models have been carried out to examine the dynamic responses of the models under the emulated test maneuvers; and 2) the applicability of an Active Trailer Differential Braking (ATDB) controller designed using a linear CT model is tested and evaluated under the conditions that the controller is applied to a CT system represented by the selected linear and nonlinear models. The current research leads to the following insightful findings: 1) the selected linear CT model is effective to predict the lateral stability of CT systems; 2) under the regular evasive maneuvers at low lateral accelerations (less than 0.5g), this linear model can be used to provide dynamic responses that are in good agreement with the selected nonlinear models; 3) the ATDB controller designed using the linear model can effectively improve the lateral stability of CT systems under regular evasive maneuvers at low lateral accelerations, but the controller is not applicable to CT active safety systems under emergency evasive maneuvers at high lateral accelerations. The insightful findings resulted from the thesis will provide valuable design guidelines for the development of active safety systems for CT systems.Item Design synthesis of NLMPC-based tracking controller for autonomous vehicles with active aerodynamic control(2022-12-01) Mao, Chunyu; He, Yuping; Agelin-Chaab, MartinThe past three decades have witnessed extensive studies on tracking-control for autonomous vehicles (AVs). However, there is a lack of studies on effective design methods in this field. To tackle this problem, this thesis proposes a design synthesis method which is featured a design framework with two layers: at the upper layer, a particle swarm optimization algorithm is used to find optimal solutions with desired trajectory-tracking performance; at the lower layer, a comprehensively coupled dynamic analysis is conducted among the three subsystems, including a nonlinear vehicle model with active aerodynamic control for mechanical vehicle representation, a motion-planning module with given perception data, and a tracking controller based on non-linear model predictive control (NLMPC) for direction and lateral stability control. The design optimization demonstrates that the proposed method can effectively determine the desired design variables to achieve optimal trajectory-tracking performance. The insightful findings from this study will provide valuable guidelines for designing autonomous vehicles.Item An energy-regenerative suspension system(ASME, 2018) Lato, Thomas; Zhao, Huiyong; Zhao, Lin; He, YupingItem Enhancement of lateral stability of car-trailer systems using model-reference adaptive control(2019-12-01) Vempaty, Smitha; He, YupingCar-Trailer (CT) systems exhibit reduced maneuverability in curved-path negotiations and display low lateral stability under high-speed evasive maneuvers. Therefore, the objective of this thesis is to design a Lyapunov-Stability-based Model Reference Adaptive Controller (MRAC) for an active trailer steering system to enhance the lateral stability of CT systems considering parametric uncertainties and unknown dynamics of the actuator. To this end, a reference model is designed using a 3-DOF (degrees of freedom) linear CT model with active trailer steering; the virtual vehicle, i.e., the nonlinear CT model with 22-DOF, is developed in CarSim software; the MRAC controller is constructed in Simulink/MATLAB. To explore the robustness of the Lyapunov-Stability-based MRAC controller with respect to uncertainties, co-simulations are carried out by integrating the virtual CT developed in CarSim, the reference model and MRAC controller designed in Simulink/MATLAB. Simulations reveal that the proposed controller adapts to external disturbances and parametric variations very well. Specifically, the research leads to the insightful finding that the adaptive controller based active trailer steering system can effectively improve the lateral stability of CT systems, and the proposed design methodology will provide a valuable guideline for the development of advanced active safety systems for CT systems in the future.Item Enhancing roll stability and directional performance of articulated heavy vehicles based on anti-roll control and design optimization.(2011-10-01) Oberoi, Dhruv; He, YupingThis research presents an investigation to actively improve the rollover stability of articulated heavy vehicles (AHVs) during high speed manoeuvres using anti-roll control systems. A 3-dimensional (3-D) linear yaw/roll model with 5 degrees of freedom is developed. Based on this model a linear quadratic regulator (LQR) controller is designed to improve the rollover stability of a tractor/semi-trailer combination. A design optimization method for AHVs using genetic algorithms (GAs) and multibody vehicle system models is also presented. AHVs have poor manoeuvrability when travelling at low speeds on local roads and city streets. On the other hand, these vehicles exhibit unstable motion modes at high speeds, including jack-knifing, trailer sway and rollover. From the design point of view, the low-speed manoeuvrability and high-speed stability have conflicting requirements on some design variables. The design method based on a GA and a multibody vehicle dynamic package, TruckSim, is proposed to coordinate this trade-off relationship. To test the effectiveness of the design method, a tractor/semi-trailer combination is optimized using the proposed method. It is demonstrated that the proposed design method can be used for identifying desired design variables and predict performance envelopes in the early design stages of AHVs.Item Fault tolerant control of active trailer steering systems for multi-trailer articulated heavy vehicles(2017-07-01) Kapoor, Saurabh; He, Yuping; Ren, JingFaults in a controlled plant often deteriorate the system performance. In severe cases, faults pose a risk of component damage, plant shutdown or even personnel safety. Fault Tolerant Control (FTC) aims at preventing the escalation of rectifiable faults to serious failure. A FTC system combines fault diagnosis with reconfiguration methods to manage faults intelligently. This thesis focuses on FTC systems for Multi-Trailer Articulated Heavy Vehicles (MTAHVs), particularly for Active Trailer Steering (ATS) systems. MTAHVs are vital to the trucking industry, and it is crucial to enhance their safety, reliability and usability. In this research, a 4-DOF linear yaw-plane model of a B-Train double is generated. The vehicle model is validated using the commercial software package, TruckSim. Additionally, this thesis presents an ATS system for the B-Train double. The ATS mechanism is modeled as a hydraulic control system, consisting of a hydraulic actuator and an electrohydraulic control valve. The hydraulics for the ATS system are validated using MathWorks Simscape. To enhance the hydraulic control system’s robustness and reliability, FTC is applied. Numerous model-based fault diagnosis techniques such as Kalman Filter, Luenberger Observer, parity equations and residual generation are employed. Furthermore, for the control system synthesis, Linear Quadratic Regulator (LQR) and H∞ control techniques are utilized. Control techniques’ influence on FTC is analyzed, and the most appropriate technique is proposed for the FTC-ATS control system. Several fault scenarios, such as actuator malfunction(s) and sensor failure are explored, and their impact on system dynamics is investigated.Item High-speed lateral stability analysis of articulated heavy vehicles using driver-in-the-loop real time simulation(2018-04-01) Brown, Jesse; Lang, Haoxiang; He, YupingHigh-speed testing procedures for evaluating the lateral stability of multi-trailer articulated heavy vehicles (MTAHV) include the use of both an open-loop and a closed-loop maneuvers as specified in ISO-14791. The standard testing procedures are used to determine the Rearward Amplification (RA), which is a well-accepted performance measure for the lateral stability of MTAHVs. The open-loop testing maneuver includes the use of a single cycle sinewave steer input, while the closed-loop procedure prescribes a single lane-change path, following which a driver drives a testing vehicle. The closed-loop single lane-change maneuver can be performed by a human driver for in-vehicle tests. In numerical simulation, a driver model may be used to drive the virtual vehicle under the closed-loop maneuver for simplicity and repeatability. Very little attention has been paid to investigating into the interactions of driver-MTAHV. It has been reported that a driver is typically at fault in many heavy vehicle accidents, and many studies focus on improving the dynamic performance of the vehicle and ignore the driving skills of the driver. This thesis attempts to examine the driver-MTAHV interactions and quantify driver skills for controlling a MTAHV as compared to a single unit vehicle. This thesis proposes a method for driver skill analysis via comparing virtual drivers in various operating conditions. The driver skill analysis is conducted by evaluating the lateral stability and path-following ability of the vehicle under the control of the driver model. The evaluation is implemented using driver-in-the-loop (DIL) real-time simulations, where the RA measures derived from a group of human drivers are compared to those from the virtual driver. The numerical and DIL real-time simulation results demonstrate that the human and the virtual driver achieved similar a good agreement in terms of the performance measures, indicating the validity of the driver model, testing procedure and the interactions of driver-MTAHV.Item Lateral stability analysis and MPC tracking control for articulated heavy vehicles(2022-10-01) Sharma, Tarun; He, YupingArticulated heavy vehicles (AHVs) exhibit poor maneuverability during curved-path negotiations and low lateral stability under high-speed evasive maneuvers, which may lead to unstable motion modes, e.g., trailer-sway and jackknifing, causing severe accidents. However, vehicle parameters that can improve the static stability may degrade the dynamic stability. Therefore, to design controllers for improving the stability of AHVs, the trade-off between the static and dynamic instabilities is a necessary research topic. To analyze this trade-off, three different trailer payload schemes and two different tractor rear axle arrangements are considered. This trade-off is quantified using numerical simulations. Building upon the above trade-off analysis, this study designs an active safety technique in terms of a tracking-controller based on nonlinear model predictive control (NLMPC) for autonomous AHVs. With the proposed tracking-controller, the AHV tracks the predefined reference path and follows a planned forward speed scheme. Numerical simulation demonstrates the effectiveness of the proposed NLMPC tracking-controller.Item Parallel design optimization of multi-trailer articulated heavy vehicles with active safety systems(2013-04-01) Islam, Md. Manjurul; He, YupingMulti-trailer articulated heavy vehicles (MTAHVs) exhibit unstable motion modes at high speeds, including jack-knifing, trailer swing, and roll-over. These unstable motion modes may lead to fatal accidents. On the other hand, these vehicle combinations have poor maneuverability at low speeds. Of all contradictory design criteria of MTAHVs, the trade-off relationship between the maneuverability at low speeds and the lateral stability at high speeds is the most important and fundamental. This trade-off relationship has not been adequately addressed. The goal of this research is to address this trade-off relationship through the design optimization of MTAHVs with active safety systems. A parallel design optimization (PDO) method is developed and applied to the design of MTAHVs with integrated active safety systems, which involve active trailer steering (ATS) control, anti-roll (AR) control, differential braking (BD) control, and a variety of combinations of these three control strategies. To derive model-based controllers, a single-trailer articulated heavy vehicle (STAHV) model with 5 degrees of freedom (DOF) and a MTAHV model with 7 DOF are generated. The vehicle models are validated with those derived using a commercial software package, TruckSim, in order to examine their applicability for the design optimization of MTAHVs with active safety systems. The PDO method is implemented to perform the concurrent design of the plant (vehicle model) and controllers. To simulate the closed-loop testing maneuvers, a driver model is developed and it is used to drive the virtual vehicle following the prescribed path. Case studies indicate that the PDO method is effective for identifying desired design variables and predicting performance envelopes in the early design stages of MTAHVs with active safety systems.Item Robust controller design for active trailer steering systems of articulated vehicles using multi-objective optimization(2019-08-01) Qureshi, Khizar Ahmad; Liscano, Ramiro; He, YupingThis thesis presents and evaluates an approach to the robust controller design for active trailer steering (ATS) systems to increase the safety of articulated vehicles. By applying a multi-objective evolutionary algorithm (MOEA) to the design optimization of the robust ATS controller, a series of optimal gain values can be obtained in a single run. This allows for posteriori decision making along with flexibility to select appropriate gain for different operating conditions. The algorithm creates Pareto optimal gain values for various speeds, thereby resulting in the robust ATS controller with an optimized gain scheduling scheme. The research elucidates the advantages of multi-objective algorithms over mono-objective or single-objective algorithms. For the design optimization of the ATS controller, a benchmark investigation is conducted to select an effective algorithm from the multi-objective algorithms, including GDE3, NSGA-II, NSGA-III, SPEA2 and MOPSO. A modular framework is introduced for co-simulations conducted in the CarSim-Simulink/Matlab environment, with which the vehicle and controller parameters can be optimized. The method ensures that a robust ATS controller with optimized feedback control gains, as well as satisfaction of design criteria and constraints. This research proposes a framework to generate a multi-dimensional look-up table using the multi-objective evolutionary algorithm for a general dynamic system controlled by a feedback controller. The optimized look-up system can be used to improve the robustness of control systems in real-world applications.