Regulating performance for tractor-semitrailer vehicle systems: a Lyapunov minimax approach

The problem of automated steering and independent braking control for a tractor-semitrailer vehicle system is addressed. The control is designed by combining the input/output linearization and Lyapunov minimax approach. The proposed design achieves, despite of the presence of uncertainty, lane following and prevents the jack-knifing phenomenon of trailer yaw motion.

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