Robustness analysis of a steering-based control strategy for improved lateral performance of a truck-dolly-semitrailer
Journal article, 2015

A control strategy for lateral performance improvement of a truck-dolly-semitrailer combination by active steering of the towed units is presented. The effectiveness and robustness of the controller are verified by extensive analysis of the controller performance in various driving conditions at high speeds and presence of uncertainties in vehicle parameters, such as tyre cornering stiffness and moment of inertia. It is shown that the controller reduces the yaw rate rearward amplification, offtracking and side slip angle significantly. It is also demonstrated that brake interventions by other controlling systems such as electronic stability control do not deteriorate the controller performance.

Heavy vehicle combination

Yaw rate rearward amplification

Lateral performance


Active steering



Sogol Kharrazi

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

Mathias R Lidberg

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

Jonas Fredriksson

Chalmers, Signals and Systems, Systems and control

International Journal of Heavy Vehicle Systems

1744-232X (ISSN) 1741-5152 (eISSN)

Vol. 22 1 1-20

Subject Categories

Vehicle Engineering



More information