Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer Vehicle

Abstract

A novel control scheme is proposed to improve the yaw stability of a tractor semitrailer vehicle in critical situations. The control scheme is a two-layer structure consisting of an upper yaw moment controller and a lower brake force distributor. The tractor and the trailer are, respectively, stabilized by two independent fuzzy logic based yaw moment controllers. The controllers for the tractor and the trailer are, respectively, designed to track the reference yaw rate of the tractor and the hitch angle between the tractor and the trailer while considering the variation of the hitch angular rate at the same time. The corrective yaw moments determined by the corresponding upper fuzzy yaw moment controllers are realized by active wheel braking. The performance of the proposed control scheme is evaluated by simulations on a nonlinear vehicle model. The results demonstrate that the proposed control scheme is robust and effective in stabilizing the severe instabilities such as jackknife and trailer oscillation in the chosen simulation scenarios. It is believed that this control scheme is robust to the variation of road adhesion conditions.

Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather

“…Liang et al proposed a specified fuzzy sliding mode controller to guarantee the robust control in the presence of system uncertainties [31]. By active wheel braking, Takenaga et al proposed a novel fuzzy logic based yaw moment controllers to track the reference yaw rate of the tractor and the hitch angle and demonstrated the robust and effects in stabilizing the severe instabilities such as jackknife and trailer oscillation in the chosen simulation scenarios [32][33][34]. Zong et al applied a multiobjective stability control algorithm to improve the vehicle stability of a tractor semitrailer by using differential braking [35].…”

Implementation of a Semi-active Auxiliary Axle for Lateral Stability of Articulated Heavy Vehicles at Extreme Loss of Control Limit

“…Differential braking systems proposed under various terminologies [22][23][24][25] have superior functionality with the highest power density, high fidelity, existing technology, and minimal retrofit required. The application of differential braking to prevent jackknifing and roll-over was addressed in [26][27][28]. The only limitation of braking systems such as yaw stability control is that path-tracking maneuverability is sacrificed.…”

Performance Comparison of Different Fuzzy Logic Controllers on Vehicle-Caravan Systems

“…Active control techniques are used in VC systems against instability modes [5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24]. Active control techniques can be used in both the towing vehicle and the caravan system.…”

“…In ASC, a moment is created in the center of gravity to prevent skidding by giving a steering angle to the front or rear wheels [9], while the mechanism of the front or rear wheel must be arranged accordingly to use ASC. In the case of understeer in the ADB braking system, braking is applied to the right or left wheels, and a torque is applied in the opposite direction to the yaw moment that occurs around the center of gravity to damp the swing [7,9,[16][17][18][19][20][21]. The ADB system is often preferred, as it does not require much extra hardware compared to the ASC.…”