Robust Active Steering Control for Articulated Vehicle

This paper addresses the lane keeping scenario for articulated vehicles. The proposed system controls the steering angles of the truck and its trailer to follow a predetermined desired trajectory. During the path following, the truck position and the articulation angle are bounded to ensure a safe maneuver. The proposed approach is based on a modular system. The first module uses the function of barrier Lyapunov to apply constraints on the truck position and the trailer orientation. The second module denotes a Robust Integral of Sign of Error (RISE) feedback controller. The proposed controller is designed to define the appropriate steering angles for the truck and the trailer while compensating the vehicle's parameters uncertainties. To prove the efficiency of the developed approach, a comparative study with the computed torque controller is implemented.