Optimal Reconfiguration Control of the Yaw Stability of the Tractor-Semitrailer Vehicle
نویسندگان
چکیده
An optimal reconfiguration control scheme based on control allocation CA is proposed to stabilize the yaw dynamics of the tractor-semitrailer vehicle. The proposed control scheme is a twolevel structure consisting of an upper level of sliding mode yaw moment controller SMYC and a lower optimal brake force distributor BFD . The upper SMYC is designed to follow the tractor yaw rate and the combination of the hitch angle and trailer slip angle and outputs the corrective yaw moment, respectively, for the tractor and the trailer. The optimal brake force allocation and reconfigurable control problem is transformed to a problem of error minimization and control minimization combination formulated by constrained weighted least squares CWLS optimization and further solved with active set AS algorithm. Simulation results reveal that the CA technique-based optimal reconfigurable control is rather effective for the tractor-semitrailer vehicle to enhance the yaw stability performance and the reliability in case of actuator failure thanks to the multiple-axle structure enriching the alternatives of possible actuator combinations in CA optimization.
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