Lateral control of commercial heavy vehicles

Two nonlinear lateral control algorithms are designed for a tractor-semitra iler type commercial heavy vehicle. The baseline steering control algorithm is designed utilizing input-output linearization. To enhance the lateral s tability and furthermore reduce tracking errors of the trailer, braking for ces are independently controlled on the inner and outer wheels of the trail er. The coordinated steering and braking control algorithm is designed base d on the multivariable backstepping technique. Simulations conducted using the complex model show that the trailer yaw errors under coordinated steeri ng and independent braking force control are much smaller than those withou t independent braking force control.