This paper investigates the use of differential breaking to prevent jackknifing of tractor—semi-trailer vehicles. The model reference adaptive control (MRAC) technique is used to design a controller that is able to address the effects caused by changes in the loading conditions of the semi-trailer. The MRAC controller is first evaluated using computer simulations which show that the controller is able to effectively respond to changes in loading conditions. A scale model of a tractor—semi-trailer vehicle is constructed to act as a platform on which to perform experiments. Using this scale model it is shown that differential braking is able to reduce the fifth wheel angle in a constant-speed turning manoeuvre. Furthermore, it is experimentally confirmed that the controller can adaptively provide control actions to respond to changes in the semi-trailer's loading conditions. It is also experimentally shown that braking while performing a turning manoeuvre is detrimental for fifth wheel angle stability, and that differential braking can create significant stability improvements in this situation.
Jackknife Prevention for Articulated Vehicles Using Model Reference Adaptive Control
2011-01-01
15 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Jackknife prevention for articulated vehicles using model reference adaptive control
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