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String Stable Lateral Control of Tractor-trailer Truck Platoons
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String Stable Lateral Control of Tractor-trailer Truck Platoons
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Journal Article
String Stable Lateral Control of Tractor-trailer Truck Platoons
2024
Overview
Since heavy-duty trucks play an important role in logistics and platooning of those trucks improves the fuel efficiency, the platooning technology for tractor-trailer type vehicles has recently gained significant attention in the transportation sector. This paper introduces a method to guarantee the lateral string stability of a platoon comprising multiple identical articulated vehicles. The proposed controller employs the feedback linearization technique, forming a simple proportional-derivative (PD) controller augmented with a feedforward control term by receiving the preceding vehicle’s steering angle information. This study represents the first attempt to ensure the lateral string stability of tractor-trailer platoons. Simulation results show that the lateral distance deviation does not amplify toward the tail of the platoon when the PD and feedforward control gains are designed such that the magnitude of the error propagation transfer function remains less than unity.
