Two nonlinear lateral control algorithms are designed for a tractor-semitrailer type commercial heavy vehicle. The baseline steering control algorithm is designed utilizing input-output linearization. To enhance the lateral stability and furthermore reduce tracking errors of the trailer, braking forces are independently controlled on the inner and outer wheels of the trailer. The coordinated steering and braking control algorithm is designed based on the multivariable backstepping technique. Simulations conducted using the complex model show that the trailer yaw errors under coordinated steering and independent braking force control are much smaller than those without independent braking force control.


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    Title :

    Lateral Control of Commercial Heavy Vehicles


    Contributors:

    Published in:

    Vehicle System Dynamics ; 33 , 6 ; 391-420


    Publication date :

    2000-06-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown



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