Steering and independent braking control for tractor-semitrailer vehicles in automated highway systems

A steering and independent braking control for a tractor-semitrailer vehicle is proposed to achieve lane following in automated highway systems. Independent braking force of the semitrailer is utilized to stabilize the trailer yaw motion and thus to prevent the potential occurrence of jack-knifing. The control algorithm is designed by the input/output linearization and the adaptive backstepping design methodologies.