@article{ref1,
title="Jackknife Prevention for Articulated Vehicles Using Model Reference Adaptive Control",
journal="Proceedings of the Institution of Mechanical Engineers, Part D: Journal of automobile engineering",
year="2011",
author="Chen, L-K and Shieh, Y-a",
volume="225",
number="1",
pages="28-42",
abstract="This paper investigates the use of differential breaking to prevent jackknifing of tractor--semi-trailer vehicles. The model reference adaptive control (MRAC) technique is used to design a controller that is able to address the effects caused by changes in the loading conditions of the semi-trailer. The MRAC controller is first evaluated using computer simulations which show that the controller is able to effectively respond to changes in loading conditions. A scale model of a tractor--semi-trailer vehicle is constructed to act as a platform on which to perform experiments. Using this scale model it is shown that differential braking is able to reduce the fifth wheel angle in a constant-speed turning manoeuvre. Furthermore, it is experimentally confirmed that the controller can adaptively provide control actions to respond to changes in the semi-trailer's loading conditions. It is also experimentally shown that braking while performing a turning manoeuvre is detrimental for fifth wheel angle stability, and that differential braking can create significant stability improvements in this situation.<p /><p>Language: en</p>",
language="en",
issn="0954-4070",
doi="10.1243/09544070JAUTO1513",
url="http://dx.doi.org/10.1243/09544070JAUTO1513"
}