Path Tracking Control Method with Trailer Additional Yaw-Moment Control for Semi-Trailer Trucks on High-Curvature Paths

This paper proposes an innovative path tracking control method with trailer additional yaw-moment control for semi-trailer trucks on high-curvature paths. Firstly, an $H_\infty$-based path tracking controller with input constraints is presented to prevent jackknifing behavior and enhance driving comfort. Then, an $H_\infty$-based trailer additional yaw-moment controller with the state-dependent supervisory mechanism is proposed to reduce the trailer lateral tracking error and mitigate its sway behavior, while the utilization of the state-dependent supervisory mechanism effectively reduces energy consumption and enhances tire lifespan. Finally, based on the $H_\infty$ theory, the design criteria of the proposed controllers are established to solve the controller gains. The validity of the proposed method is evaluated by a hardware-in-the-loop platform, where the experimental results demonstrate that the proposed method is more effective and robust than the existing baseline control methods.