Title: Fractional order state feedback control for improved lateral stability for tractor-trailers in platooning

Authors: Rasheed M. Abdulkader; Roy A. McCann

Addresses: Department of Electrical Engineering, King Faisal University, Al-Ahsa, 31982, Saudi Arabia ' Department of Electrical Engineering, University of Arkansas, Fayetteville, AR 72701, USA

Abstract: This paper develops an improved tractor-trailer platooning operation for an evasive highway manoeuvre situation by implementing a fractional order state feedback control method. This increases the lateral stability of commercial heavy vehicles platoons and thereby improves energy savings and safety. The control method is developed based on a nonlinear model for a tractor-trailer in platooning formations. A method for analysing heavy vehicle dynamics is presented. To validate the proposed control algorithm, the complete nonlinear system is evaluated in MATLAB/Simulink to account for the interaction of truck dynamics during platooning operation. Simulation results with varying the truck speed and the trailer load demonstrate the robustness of the proposed fractional order state feedback control scheme for an evasive manoeuvre scenario. Thus the proposed control scheme is compared to a professional driver for an emergency highway lane manoeuvre. Overall results confirm that the proposed controller improves tractor-trailer response time as compared to a professional truck driver along with increased energy savings and reduced fuel consumption during platooning operation of the tractor-trailer.

Keywords: lateral stability; active front steering; platooning; fractional order control; tractor-trailer dynamics; state feedback; modelling.

DOI: 10.1504/IJHVS.2021.120916

International Journal of Heavy Vehicle Systems, 2021 Vol.28 No.5, pp.698 - 725

Received: 31 Mar 2020
Accepted: 03 Aug 2020
Published online: 17 Feb 2022 *

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