Abstract
A comprehensive path and attitude control strategy of articulated vehicles for varying vehicle conditions is proposed to improve the lateral stability of articulated vehicles based on model predictive control (MPC). A simplified yaw-roll model of the articulated vehicle is built and its key parameters are identified under specified vehicle conditions, thus the key parameters of the simplified model can be modified according to the real-time vehicle states by online lookup-table and interpolation. The active trailer steering controller is designed to make the predicted trailer path and yaw angle follow the demand path and attitude and minimise the side slip angle of trailer centre of gravity at the same time. The simulation results show that the lateral stability and off-tracking of the articulated vehicle have been greatly improved and the proposed controller has good adaptability to various vehicle conditions.
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