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Simulation to reality (sim2real) transfer from a dynamics and controlsperspective usually involves re-tuning or adapting the designed algorithms tosuit real-world operating conditions, which often violates the performanceguarantees established originally. This work presents a generalizable frameworkfor achieving reliable sim2real transfer of autonomy-oriented control systemsusing multi-model multi-objective robust optimal control synthesis, which lendswell to uncertainty handling and disturbance rejection with theoreticalguarantees. Particularly, this work is centered around an actuation-redundantscaled autonomous vehicle called Nigel, with independent all-wheel drive andindependent all-wheel steering architecture, whose enhanced configuration spacebodes well for robust control applications. To this end, we present asystematic study on the complete mechatronic design, dynamics modeling,parameter identification, and robust stabilizing as well as steady-statetracking control of Nigel using the proposed framework, with experimentalvalidation.

Nigel -- Mechatronic Design and Robust Sim2Real Control of an Over-Actuated Autonomous Vehicle