Title: Robustness analysis of a steering-based control strategy for improved lateral performance of a truck-dolly-semitrailer
Authors: Sogol Kharrazi; Mathias Lidberg; Jonas Fredriksson
Addresses: Department of Applied Mechanics, Chalmers University of Technology, SE?412 96, Gothenburg, Sweden ' Department of Applied Mechanics, Chalmers University of Technology, SE?412 96, Gothenburg, Sweden ' Department of Signals and Systems, Chalmers University of Technology, SE?412 96, Gothenburg, Sweden
Abstract: A control strategy for lateral performance improvement of a truck-dolly-semitrailer combination by active steering of the towed units is presented. The effectiveness and robustness of the controller are verified by extensive analysis of the controller performance in various driving conditions at high speeds and presence of uncertainties in vehicle parameters, such as tyre cornering stiffness and moment of inertia. It is shown that the controller reduces the yaw rate rearward amplification, offtracking and side slip angle significantly. It is also demonstrated that brake interventions by other controlling systems such as electronic stability control do not deteriorate the controller performance.
Keywords: truck-dolly-semitrailer; heavy vehicle combination; active steering; lateral performance; yaw rate rearward amplification; offtracking; heavy vehicles; control strategy; vehicle control; robust control; controller performance; high speed; vehicle speed; parameter uncertainty; vehicle parameters; tyre cornering stiffness; moment of inertia; side slip angle; brake interventions; electronic stability control.
International Journal of Heavy Vehicle Systems, 2015 Vol.22 No.1, pp.1 - 20
Received: 08 May 2021
Accepted: 12 May 2021
Published online: 05 Jul 2015 *