Nonlinear control and Stability of the Tractor Semi-Trailer System based on the Sliding Mode Control In Order to Jackknife Prevention

In this paper, with applying the direct control on the fifth wheel, the dynamical behavior of the tractor semi-trailer vehicles is modified against the jackknife phenomenon. For this purpose, mathematical model of the system is derived using the Newton-Euler equations and after simulation of the open loop system, the modeling process is verified using the Sim-truck results. In order to control and the lateral stability of the vehicle system, the optimal controller based on the linear quadratic regulator is designed. Furthermore, for achieving to robust control system, the nonlinear controller on the basis of the Sliding mode control is also applied on the system. The comparison of the control system results demonstrates the proper performance in the settling time and the robustness of the sliding mode controller in the stability and improvement of the dynamical behavior in the system. On the other hand, the sliding mode control system can stabilize the system with least energy consumption according to behavior of control signals.