Title: Comprehensive path and attitude control of articulated vehicles for varying vehicle conditions

Authors: Hsin Guan; Kyongil Kim; Bo Wang

Addresses: State Key Laboratory of Automobile Simulation and Control, Jilin University, Changchun, 130022, China ' State Key Laboratory of Automobile Simulation and Control, Jilin University, Changchun, 130022, China ' State Key Laboratory of Automobile Simulation and Control, Jilin University, Changchun, 130022, China

Abstract: A comprehensive path and attitude control strategy of articulated vehicles for varying vehicle conditions is proposed to improve the lateral stability of articulated vehicles based on model predictive control (MPC). A simplified yaw-roll model of the articulated vehicle is built and its key parameters are identified under specified vehicle conditions, thus the key parameters of the simplified model can be modified according to the real-time vehicle states by online lookup-table and interpolation. The active trailer steering controller is designed to make the predicted trailer path and yaw angle follow the demand path and attitude and minimise the side slip angle of trailer centre of gravity at the same time. The simulation results show that the lateral stability and off-tracking of the articulated vehicle have been greatly improved and the proposed controller has good adaptability to various vehicle conditions.

Keywords: articulated vehicles; yaw-roll models; MPC; model predictive control; lateral stability; path control; attitude control; modelling; yaw angle; active steering; trailer steering; steering control; side slip angle; controller design; simulation.

DOI: 10.1504/IJHVS.2017.080961

International Journal of Heavy Vehicle Systems, 2017 Vol.24 No.1, pp.65 - 95

Available online: 08 Dec 2016 *

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