Active trailer steering control of an articulated system with a tractor and three full trailers for tractor-track following
by Krishna Rangavajhula, H.-S. Jacob Tsao
International Journal of Heavy Vehicle Systems (IJHVS), Vol. 14, No. 3, 2007

Abstract: We examine several control strategies to minimise off-tracking of a multi-axle steering system with a tractor and three full trailers, described by a linear yaw-plane model. Given any arbitrary tractor track desired real-time by the driver, control inputs are the steering angles of front axles of the trailers. A minimum Rearward Amplification Ratio (RWA), as a surrogate for minimum off-tracking, is used as the control criterion to arrive at an optimal LQR controller, which is remarkably robust to tyre-parameter variations. Actively steering trailers 1 and 2 is most cost-effective in achieving acceptable levels of RWA, with off-tracking practically eliminated.

Online publication date: Fri, 02-Nov-2007

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