Stabilization of a road-train of articulated vehicles

Abstract

This paper deals with the stable navigation of up to eight articulated vehicles, coupled together to form a road-train. Based on kinematic and dynamic models, three control approaches are proposed for dynamic stabilization in road-train configuration, as well as a methodology for setting control gains, using three possible actuators: damper at the vehicle articulation, front steering or rear drive wheels. Implementation on a 3D simulator, representative of the dynamics of the real system with a high degree of fidelity, demonstrates the controller's performance and robustness in critical scenario conditions. Tests are then conducted in real conditions to validate the new strategy.