Parameter Identification of Tractor-Semitrailer Model under Steering and Braking

Figure 10

5-DOF model data and field test data: (a) tractor’s roll angle; (b) semitrailer’s roll angle; (c) tractor’s roll rate; (d) semitrailer’s roll rate; (e) tractor’s yaw rate; (f) semitrailer’s yaw rate.

(a)

(b)

(c)

(d)

(e)

(f)