Integration of MPC and ADRC for Anti-Jackknifing in Articulated Heavy Vehicles

One of the challenges for articulated heavy vehi-cles (AHVs) is the complexity of vehicle operating conditions, particularly on low-adhesion road and at high speed, which may result in AHVs' jackknifing. This study proposes a novel method to address the jackknifing issue by differential braking. Specifically, a fusion controller is used Model Predictive Control (MPC) and Active Disturbance Rejection Control (ADRC) to suppress the jackknife. Firstly, a controller-oriented 3 DoF model is established, and its parameters are optimized by an algorithm named Genetic. Then, the proposed controller utilizes differential braking to get the additional yaw moment, enhancing the lateral agility and responsiveness of AHVs without compromising their stability. Afterwards, the simulation test is conducted. Finally, the results demonstrate that the controller helps AHVs achieve anti-jackknifing.