Coordinated chassis control of a tractor-semitrailer combination operating at its handling limits using the MHA methodology

The performance benefits associated with coordinated control of a tractor-semitrailer combination are tested in this paper. More specifically, the paper evaluates performance as the number of available actuators is varied. Coordinating a large number of actuators to control articulated vehicles is a challenging task. To tackle this challenge effectively, a method that can be consistently applied across various levels of actuation is required. The modified Hamiltonian Algorithm (MHA) methodology is found to be suitable for the analysis. The method employs a multivariable nonlinear controller to provide steering and braking actuator inputs for simultaneous stability control and path following for articulated vehicles, even when operating in the nonlinear region of the tyres. This paper specifically investigates the potential performance benefits of using individual wheel braking compared to having limited control with regard to the semitrailer under challenging conditions. To achieve this, the original MHA technique is extended to be applicable to articulated vehicles. As a benchmark scenario, an autonomous safety-critical lane change manoeuvre on a low-friction road is performed by using a relatively simple steering controller. Simulation is conducted through co-simulation of Matlab/Simulink and TruckMaker. Results show that using individual wheel brake actuators for both units combined with automated steering can offer significant performance advantages compared to simpler chassis control strategies.