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 an 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 a systematic study on the complete mechatronic design, dynamics modeling, parameter identification, and robust stabilizing as well as steady-state tracking control of Nigel using the proposed framework, with experimental validation.

翻译：从动力学与控制视角出发，从仿真到现实（sim2real）的迁移通常涉及重新调整或适配所设计算法以适应真实运行条件，这一过程往往会破坏原本建立的性能保证。本文提出了一种通用框架，通过多模型多目标鲁棒最优控制综合方法实现面向自主控制系统的可靠sim2real迁移，该框架在具备理论保证的前提下，能够有效处理不确定性与干扰抑制问题。本研究以名为Nigel的驱动冗余型缩比自主车辆为核心对象，该车辆采用独立全轮驱动与独立全轮转向架构，其增强的构型空间为鲁棒控制应用提供了有利条件。基于此，我们系统论述了Nigel从机电一体化设计、动力学建模、参数辨识到鲁棒镇定及稳态跟踪控制的完整流程，并利用所提框架进行了实验验证。