Abstract

In this paper, a robust linear steering and differential braking controller is designed for the automated guidance of tractor-semitrailer combination vehicles using the H loop-shaping methodology. Only the articulation angle, the lateral errors at the front and rear axle of the tractor, and the angular velocities of the rear wheels of the trailer or the brake line pressure signals, are assumed to be available for the synthesis of control inputs. The controller is designed to ensure the robustness to model uncertainties due to variations in vehicle longitudinal speed, road adhesion coefficient and trailer cargo load. Closed-loop simulation results show the robustness of the proposed controller and the resulting smaller lateral error at the trailer end when compared to the controller using the steering input only. More damped transient responses of articulation angle when using the steering and braking control also improve the yaw stability of the trailer.

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