Stabilization of a road-train of articulated vehicles

Stabilisation d'un train routier composé de véhicules articulés

Eric Lucet (1) , Alain Micaelli (2)

1 LRI - Laboratoire de Robotique Interactive
2 Unité Robotique

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.

Keywords: Articulated vehicle road-train; Linear Quadratic Regulator; Dynamic stabilization; ELK-test

Domains: Automatic

Eric Lucet, Alain Micaelli. Stabilization of a road-train of articulated vehicles. Robotics and Autonomous Systems, In press, ⟨10.1016/j.robot.2019.01.016⟩. ⟨cea-02011804⟩