Adaptive Slip Control for Electrified Articulated Heavy Vehicles

Paper i proceeding, 2026

Longitudinal slip on each axle of electrified articulated heavy vehicles can be independently controlled, offering new opportunities for performance optimization but also raising safety risks if lateral stability limits are violated. This paper presents two adaptive slip‑control strategies that use phase‑portrait‑derived Safe Operating Envelopes (SOEs) as dynamic constraints. The first controller relies on a pre‑computed multidimensional database of SOEs and performs real‑time point‑in‑polygon checks to determine the maximum permissible slip. The second controller eliminates the need for the SOE database by re‑evaluating stability and calculating safe slip limits in real-time. Both controllers are tested with a high‑fidelity simulation environment under severe maneuvers that would cause jackknifing or trailer swing with fixed slip limits. Controllers successfully avoid yaw instabilities by adaptively regulating the safe slip limits.