Jackknife prevention for articulated vehicles using model reference adaptive control

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.