Title: Intelligent vs. sliding mode control in rollover prevention of tractor-semitrailers

Authors: D. Shahmirzadi, R. Langari, L.J. Ricalde, E.N. Sanchez

Addresses: Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843-3123, USA. ' Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843-3123, USA. ' CINVESTAV, Unidad Guadalajara, Apartado Postal 31 430, Plaza La Luna, Guadalajara, Jalisco, CP 45091, Mexico. ' CINVESTAV, Unidad Guadalajara, Apartado Postal 31 430, Plaza La Luna, Guadalajara, Jalisco, CP 45091, Mexico

Abstract: In this paper, a new algorithm is used to control a model of a tractor-semitrailer. The model is previously derived, validated and a sliding mode control is also tested which demonstrates reasonable performance. The oscillatory motions of the vehicle motivate using an alternative control algorithm to improve passenger comfort and safety. In this paper, an algorithm inspired by the brain limbic system is considered to enhance the performance of the system. The main improvements are the smoother roll and yaw performances, limited excursions of the roll angle, and cheaper control actions. The sliding mode control offers better performance in certain limited respects, e.g. better yaw-rate tracking in braking and lower roll angles in acceleration. The control performances are compared for three simulations of braking, acceleration and cornering.

Keywords: brain limbic system; emotional control; heavy vehicle systems; sliding mode control; rollover stability; rollover prevention; tractor-semitrailers; intelligent control; roll performance; yaw performance; control performance; braking; acceleration; cornering; simulation; dynamic modelling; heavy vehicle control.

DOI: 10.1504/IJVAS.2006.009308

International Journal of Vehicle Autonomous Systems, 2006 Vol.4 No.1, pp.68 - 87

Published online: 16 Mar 2006 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article