Simulation to reality (sim2real) transfer from a dynamics and controls perspective usually involves re-tuning or adapting the designed algorithms to suit real-world operating conditions, which often violates the performance guarantees established originally. This work presents a generalizable framework for achieving reliable sim2real transfer of autonomy-oriented control systems using multi-model multi-objective robust optimal control synthesis, which lends well to uncertainty handling and disturbance rejection with theoretical guarantees. Particularly, this work is centered around a novel actuation-redundant scaled autonomous vehicle called Nigel, with independent all-wheel drive and independent all-wheel steering architecture, whose enhanced configuration space bodes well for robust control applications. To this end, we present the mechatronic design, dynamics modeling, parameter identification, and robust stabilizing as well as tracking control of Nigel using the proposed framework, with exhaustive experimentation and benchmarking in simulation as well as real-world settings.

翻译：从动力学与控制的角度看，仿真到现实（sim2real）的迁移通常涉及对已设计算法进行重新调参或适配，以适应实际运行条件，这往往违背了最初建立的性能保证。本文提出了一种可推广的框架，通过多模型多目标鲁棒最优控制综合，实现面向自主性的控制系统的可靠sim2real迁移。该框架能很好地处理不确定性和抑制干扰，并具有理论保证。特别地，本研究围绕一款名为Nigel的新型驱动冗余缩比自主车辆展开，该车采用独立全轮驱动和独立全轮转向架构，其增强的构型空间非常有利于鲁棒控制应用。为此，我们利用所提框架，详细介绍了Nigel的机电一体化设计、动力学建模、参数辨识、鲁棒镇定及跟踪控制，并在仿真和真实环境中进行了详尽的实验与基准测试。