Lateral Stability Control of Articulated Heavy Vehicles Based on Active Steering System

Abstract

The main purpose of this paper is to design a controller for improving the lateral stability of long heavy vehicle combinations based on active steering system. An augmented optimal linear quadratic control system design is implemented. The controller is developed and evaluated with step and lane change maneuvers for a truck and trailer combination. The uncertainties masses of the truck and trailer are taken into account for analysis purpose. The nonlinear and linear model of the truck and trailer are presented. The simulation results show a decrease in yaw rate rearward amplification and sideslip angles significantly with successful desired yaw rate tracking for the trailer.