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Lateral Stability Control of Articulated Heavy Vehicles Based on Active Steering System

Mustafa A. Emheisen 1, Mümin Tolga Emirler 2, and Basar Ozkan 3
1. Mechatronics Engineering Program, Istanbul Okan University, Istanbul, Turkey
2. Aviation Electrics and Electronics Department, Yildiz Technical University, Istanbul, Turkey
3. Mechanical Engineering Department, Istanbul Okan University, Istanbul, Turkey

Abstract—The main purpose of this paper is to design a controller for improving the lateral stability of long heavy vehicle combinations based on active steering system. An augmented optimal linear quadratic control system design is implemented. The controller is developed and evaluated with step and lane change maneuvers for a truck and trailer combination. The uncertainties masses of the truck and trailer are taken into account for analysis purpose. The nonlinear and linear model of the truck and trailer are presented. The simulation results show a decrease in yaw rate rearward amplification and sideslip angles significantly with successful desired yaw rate tracking for the trailer.

Index Terms—active steering, linear quadratic control, yaw rate rearward amplification, sideslip angle, lateral stability

Cite: Mustafa A. Emheisen, Mümin Tolga Emirler, and Basar Ozkan, "Lateral Stability Control of Articulated Heavy Vehicles Based on Active Steering System," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 8, pp. 575-582, August 2022. DOI: 10.18178/ijmerr.11.8.575-582 

Copyright © 2022 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.