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.


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    Title :

    Jackknife Prevention for Articulated Vehicles Using Model Reference Adaptive Control


    Contributors:
    Chen, L-K (author) / Shieh, Y-A (author)


    Publication date :

    2011-01-01


    Size :

    15 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Jackknife prevention for articulated vehicles using model reference adaptive control

    Chen,L.K. / Shieh,Y.A. / National Taiwan Univ.of Science a.Technol.,TW | Automotive engineering | 2011




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