LATERAL CONTROL OF AN A-DOUBLE COMBINATION VEHICLE CONSIDERING DIFFERENT MEASUREMENT SIGNALS AND DOLLY STEERING CONFIGURATIONS

Paper in proceeding, 2018

The objective of this paper is to compare and study the performance of different steering configuration of an active dolly which is employed in an A-double combination vehicle (tractor-semitrailer-dolly-semitrailer) to enhance high speed stability and performance of the vehicle. Three dolly steering configurations are considered to be investigated; the front axle steering (FAS), rear axle steering (RAS) and double axle steering (DAS). A static output feedback control synthesis is used based on linear matrix inequality (LMI) and H1 control. The simulation results show significant effects of the active dolly steering on improving lateral stability and performance at high speeds. The effectiveness of approaches are demonstrated using a high-fidelity vehicle model. The simulation results indicate that the FAS and DAS configurations are preferable compared to the RAS configuration at high speeds.