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，仿真到现实（sim2real）的迁移通常需要重新调整或适配所设计的算法以适应实际运行工况，这往往违背了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，实现对自主导向控制系统的可靠sim2real迁移。该框架在提供理论保证的同时，有效应对不确定性并抑制扰动。特别地，本文以一款名为Nigel的新型冗余驱动缩比自主车辆为核心研究对象，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。为此，我们基于所提框架，呈现了Nigel的机电一体化设计、动力学建模、参数辨识以及鲁棒镇定与跟踪控制成果，并在仿真与实际环境中开展了详尽的实验与基准测试。