An Automated Design Method for Active Trailer Steering Systems of Articulated Heavy Vehicles
Journal article, 2012

An important design decision for active trailer steering (ATS) systems for articulated heavy vehicles (AHVs) is the trade-off between maneuverability and lateral stability. This paper presents an automated design method for this trade-off. The proposed method has the following features: (1) a design framework for bilevel optimization of ATS systems is formulated; (2) design variables of ATS controllers and trailers are optimized simultaneously; (3) two controllers are designed for the ATS system for improving stability and enhancing maneuverability, respectively; and (4) a driver model is introduced in the virtual vehicle simulation for closed-loop testing maneuvers. The design framework allows automation of vehicle modeling, controller construction, performance evaluation, and design variable selection, and all required design processes are implemented in a single loop. The proposed method is compared to a previously published two-loop design method, showing that the new approach can effectively identify desired variables and predict performance envelopes.

active trailer steering

automated design method

combined plant/controller design

articulated heavy vehicles

design optimization


Yuping He

Manjurul Islam

Journal of Mechanical Design - Transactions of the ASME

1050-0472 (ISSN)

Vol. 134 4 1-15

Subject Categories

Mechanical Engineering

Vehicle Engineering

Areas of Advance



Basic sciences


C3SE (Chalmers Centre for Computational Science and Engineering)



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