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：从动力学与控制视角出发的仿真到现实迁移（sim2real）通常需要对所设计算法进行重新调参或适配，以适应真实运行条件，这往往会破坏最初建立的性能保证。本文提出了一种通用框架，利用多模型多目标鲁棒最优控制综合方法，实现面向自主导航的仿真到现实可靠迁移，该方法在不确定性处理与扰动抑制方面具有理论保障。特别地，本研究以一款名为Nigel的新型驱动冗余缩比自动驾驶车辆为核心——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良好基础。为此，我们基于所提出的框架，展示了Nigel的机电一体化设计、动力学建模、参数辨识、鲁棒镇定与跟踪控制，并在仿真及真实环境下开展了详尽的实验验证与基准测试。