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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 692912, 16 pages
Research Article

Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer Vehicle

Faculty of Transportation Engineering, Kunming University of Science and Technology, Kunming 650500, China

Received 22 July 2015; Revised 6 October 2015; Accepted 7 October 2015

Academic Editor: Muhammad N. Akram

Copyright © 2015 Xiujian Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A novel control scheme is proposed to improve the yaw stability of a tractor semitrailer vehicle in critical situations. The control scheme is a two-layer structure consisting of an upper yaw moment controller and a lower brake force distributor. The tractor and the trailer are, respectively, stabilized by two independent fuzzy logic based yaw moment controllers. The controllers for the tractor and the trailer are, respectively, designed to track the reference yaw rate of the tractor and the hitch angle between the tractor and the trailer while considering the variation of the hitch angular rate at the same time. The corrective yaw moments determined by the corresponding upper fuzzy yaw moment controllers are realized by active wheel braking. The performance of the proposed control scheme is evaluated by simulations on a nonlinear vehicle model. The results demonstrate that the proposed control scheme is robust and effective in stabilizing the severe instabilities such as jackknife and trailer oscillation in the chosen simulation scenarios. It is believed that this control scheme is robust to the variation of road adhesion conditions.