Multitrailer Vehicle Simulation: Generation and Integration of Differential Equations
Other - Software code, 2020

This code generates differential equations describing the dynamic motion of a multitrailer vehicle, for simulation, optimization, and optimal control purposes.

A user has options to create a model including:
- any number of vehicle units;
- any number of axles in each vehicle unit;
- a single-track vehicle or a two-track vehicle;
- linear or nonlinear tyre models;
- inclusion of lateral load transfer;
- inclusion of combined slip tyre model;
- inclusion of the force caused by the road grade, and air and rolling resistance forces.

The code was generated using MATLAB R2019b, and works in this or higher versions of MATLAB.
The code is exprimentally validated (the related paper doi: 10.1109/ACCESS.2020.3037035).

differential equations

optimal control

multitrailer vehicle




Toheed Ghandriz

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Optimal Distributed Propulsion

VINNOVA, 2015-10-01 -- 2019-12-31.

Swedish Energy Agency, 2015-10-01 -- 2019-12-31.

Using i-dolly for local distribution of container trailers to logistic terminals from a dry port

VINNOVA, 2017-09-01 -- 2020-08-31.

Driving Forces

Sustainable development

Areas of Advance




Basic sciences

Subject Categories

Vehicle Engineering

Control Engineering

Mathematical Analysis



Related datasets

ToheedGh/Multitrailer-Vehicle-Simulation: Generation and Integration of Differential Equations [dataset]

DOI: 10.5281/zenodo.4248263 URI:

More information