A Study on Automatic Driving Technique of Tractor-Semitrailer

Abstract

In order to elevate the driving stability of tractorsemitrailer for automated vehicle control, the issue of automated steering and independent braking control of a tractor-semitrailer vehicle system is delivered. The input/output linearization and Lyapunov minimax approach were used and combined in the design of the control. The design was programmed and simulated in Matlab. The results show that in spite of the presence uncertainty, the proposed design achieves lane following and prevents the jack-knifing phenomenon of tractor-semitrailer system.