In this paper, different actuation level steering control methods for an A-double vehicle combination (tractor–semitrailer–dolly–semitrailer) are proposed. The aim of the paper is to show the viability of advanced actuation control strategies for a practical vehicular application. Three different types of robust controller are proposed: a robust proportional–integral–derivative controller, an output feedback linear ℋ∞ controller and an induced ℒ2-norm minimizing linear parameter-varying controller. All controllers are augmented with anti-windup compensators to respect the steering-angle limit and the steering-rate limit. Each model-based controller robustly rejects external disturbances and tracks a reference steering angle generated by the motion control system. Frequency-domain analysis and time-domain analysis prove that the ℋ∞ controller and the linear parameter-varying controller outperform the proportional–integral–derivative controller in terms of reference tracking and disturbance rejection. Comparative simulation scenarios are provided on the basis of the high-fidelity vehicle simulator developed by Volvo Group Trucks Technology.
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