On robust controllers for active steering systems of articulated heavy vehicles

Abstract

This paper examines the robustness of different controllers for active steering systems (ASSs) of articulated heavy vehicles (AHVs) in terms of the directional performance. Controllers based on the linear quadratic regulator (LQR) technique were designed for ASSs. The success of the LQR-based controllers is dependent on the accuracy of linear models for AHVs. When designing ASS controllers, linearisation of the AHV models is usually necessary; this results in model inaccuracy and un-modelled dynamics, and the robustness of the LQR-based controllers may be degraded. ASSs for AHVs are assessed in the time-domain, which may lead to an incomplete performance evaluation. This paper assesses the robustness of the ASS controllers designed with the techniques of sliding mode control (SMC), nonlinear sliding mode control (NSMC), and mu-synthesis (MS). The ASS controllers are evaluated using numerical simulation in terms of the trade-off between the manoeuvrability and the lateral stability at high speeds.

Layered disturbance rejection path-following control with geometry-based feedforward for unmanned rollers

“…Existing PPCs are, however, designed for single-body vehicles using an Ackerman-type steering system, which is not suitable for the UR, a multibody articulated vehicle. In this work, a modified pure pursuit controller (MPPC) is proposed for articulated vehicles considering the geometry of the front and rear frames (equations (10) and (…”

“…Thus, the target R can be obtained. By substituting target R into equation (10), target articulation angle is derived as…”

“…Several attempts have been made in the pathfollowing control of articulated vehicles. [10][11][12] Zhang et al 2,13 developed a PID controller based on RTK-GPS (Global Positioning System), solving the problems of rolling omission and repeated rolling to some extent. Sasiadek and Lu, 14 and later on Uzunsoy and Erkilic, 15 proposed the fuzzy logic-based proportional-integraldifferential (PID) controller for the lateral error and orientation error.…”

High-speed lateral stability and trajectory tracking performance for a tractor-semitrailer with active trailer steering

“…The numerical and hardware-in-the-loop real-time simulation demonstrated that the robust ATS controller was effective for increasing the safety of MTAHVs, and robust under varied operating conditions [ 29 ]. Zhu et al studied the robustness of different controllers for ASSs of AHVs, and evaluated the controllers using numerical simulation in terms of the trade-off between maneuverability and lateral stability at high speeds [ 30 ]. Marumo et al used a vector follower controller to compensate the direction difference angles between the velocity vector at the front articulation point and the trailer using active steering of the trailer wheels, and applied a lane-keeping-assistance system to the tractor to suppress the lateral deviation of the tractor and the steering effort of the driver [ 31 ].…”