Robust path-following control design of heavy vehicles based on multiobjective evolutionary optimization

Gustavo Alves Prudencio de Morais, Lucas Barbosa Marcos, Filipe Marques Barbosa, Bruno Henrique Groenner Barbosa, Marco Henrique Terra, Valdir Grassi Jr.

Abstract: Highlights•A robust recursive controller is designed via multiobjective optimization.•The proposed approach is applied to heavy self-driving vehicle control design.•A local search procedure is proposed for multiobjective evolutionary algorithms.•The approach does not require prior knowledge of the system dynamics.•The proposed method improved robustness, stability and smoothness.