PSO-Based Variable Parameter Linear Quadratic Regulator for Articulated Vehicles Snaking Oscillation Yaw Motion Control

In this paper, the seven degrees of freedom (DOF) nonlinear system model articulated vehicles, including vehicle dynamics model, tire and hydraulic steering linearized ideal reference is constructed. A layered stability controller for built. The particle swarm optimization (PSO)-based variable parameter linear quadratic regulator (LQR) upper-level yaw torque lower-level distributor based on principle minimum utilization are established. effectiveness LQR an at different speeds control references compared analyzed through feedforward feedback control. We optimize parameters in using PSO verify improvement controller’s performance with optimized parameters. Overall, effect front rear-integrated best, followed by rear-based front-based algorithm to snaking oscillation effective.