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Path following and lateral stability remain a major challenge for AHVs with little progress in improving traditional tractor steering. In this paper, a hierarchical sliding mode controller (HSMC) for tractor steering is proposed to achieve path tracking and stability control simultaneously for a tractor-semitrailer. Based on a single-point preview driver reference, an aggregated sliding surface is constructed from three sliding surfaces including yaw rate, slip angle, and articulated angle error, and the control signal is designed to satisfy all sliding surfaces’ asymptotic stability. The controller is tested under double lane change conditions at high speed in TruckSim and shows considerable improvement in stability versus the default TruckSim controller.

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A Novel Hierarchical Sliding Mode Controller for Articulated Heavy Vehicles

  • 会议论文

  • 发表日期：

    2025年

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  • Huu Viet Nguyen,
  • Tuan Kiet Cao,
  • Ngoc Duy Le,
  • Van Chung Nguyen,
  • Huu Hai Ho,
  • Tung Lam Nguyen

摘要

Path following and lateral stability remain a major challenge for AHVs with little progress in improving traditional tractor steering. In this paper, a hierarchical sliding mode controller (HSMC) for tractor steering is proposed to achieve path tracking and stability control simultaneously for a tractor-semitrailer. Based on a single-point preview driver reference, an aggregated sliding surface is constructed from three sliding surfaces including yaw rate, slip angle, and articulated angle error, and the control signal is designed to satisfy all sliding surfaces’ asymptotic stability. The controller is tested under double lane change conditions at high speed in TruckSim and shows considerable improvement in stability versus the default TruckSim controller.