Non-Hierarchical Prescribed Performance Control for Yaw Stability of Intelligent Heavy Trucks with Electro-Hydraulic Compound Steering

The active steering safety (ASS) of intelligent heavy trucks (IHTs) has received increasing attention in an attempt to reduce the occurrence of traffic accidents. The electro-hydraulic compound steering system (EHCSS) is the key component for achieving ASS of IHTs. However, EHCSS is quite complex due to the characteristics of its multi-domain subsystems, which poses challenges to ensuring ASS. This study devised a prescribed performance controller considering sideslip angle and yaw rate to improve the quality of steering yaw stability to ensure the ASS of IHTs. First, a non-hierarchical dynamic model is established. Then, a novel finite-time prescribed performance control strategy is proposed to make sure the tracking error stays within the convergence range. Finally, we perform hardware-in-the-loop experiments under double lane change and sine steer conditions to validate the viability of the proposed controller. Experimental results demonstrate that the proposed strategy is superior to the control groups.