Active rear steering has been used in many research work to enhance ground vehicles’ lateral stability. However, there is a shortage in the published research studies that consider the incorporation of active rear steering for autonomous vehicles applications, especially in case of multi-axle combat vehicles. In this paper, various H${}_{\mathrm{\infty }}$ controllers are developed to actively steer rear axles of a multi-axle combat vehicle using a linearized bicycle model. The proposed controllers are incorporated with a 22 degrees of Freedom nonlinear Trucksim full vehicle model to study and compare the developed controllers’ performance on a hard surface. Moreover, a frequency-domain analysis is conducted to investigate the influence of the active rear steering on the path-following controllers’ robustness in terms of stability and performance. Three path-following controllers are designed, where the first controller is applied on the front two axles of the vehicle, while the rear two axles are fixed. The second is applied to all-wheel steering vehicle. The third controller is an integration between the designed front steering path-following controller and a developed lateral stability active rear steering controller. Eventually, a series of virtual maneuvers are performed to evaluate the effectiveness of the intended controllers to present the advantages and limitations of each controller at different driving conditions.

主动后轮转向已被用于许多研究工作，以提高地面车辆的横向稳定性。然而，在已发表的研究中存在不足，这些研究考虑将主动后轮转向用于自动驾驶汽车应用，特别是在多轴战车的情况下。在本文中，各种 H${}_{\mathrm{\infty }}$控制器被开发用于使用线性自行车模型主动转向多轴战车的后轴。建议的控制器与 22 自由度非线性 Trucksim 整车模型相结合，以研究和比较开发的控制器在硬表面上的性能。此外，进行频域分析以研究主动后轮转向对路径跟随控制器在稳定性和性能方面的鲁棒性的影响。设计了三个路径跟随控制器，其中第一个控制器应用在车辆的前两个轴上，而后两个轴固定。第二种是应用于全轮转向车辆。第三个控制器是设计的前转向路径跟随控制器和开发的横向稳定性主动后转向控制器之间的集成。最后，执行一系列虚拟操作以评估预期控制器的有效性，以展示每个控制器在不同驾驶条件下的优势和局限性。