This article proposed a reconfigurable control scheme for articulated vehicles’ stabilization by leveraging optimization-based control techniques. The central objective is to maintain a good lateral and yaw stability of the vehicle with optimal corrective brakes, meanwhile applicable to different actuation configurations. This is achieved by a two-layer control structure, where the high-level controller formulates as a model predictive control (MPC) tracking problem to generate corrective center-of-gravity (CG) yaw moment of each unit. The lower level controller utilizes the control allocation (CA) algorithm with real-time constraints to optimally calculate differential brakes at each wheel with maximum utilization-of-tires capacity. To evaluate its real-time performance, experimental validation is carried out on the electrified tractor-trailer with selective differential braking systems. It is observed that the controller is effective in dynamics control, meanwhile reconfigurable to various actuation configurations. Furthermore, the proposed system has great potential in production tractor-trailer systems due to the low cost and number of sensor requisites.

中文翻译：

---

具有实验验证的铰接式车辆稳定性的可重构模型预测控制

本文通过利用基于优化的控制技术提出了一种用于铰接式车辆稳定性的可重构控制方案。中心目标是通过最佳的校正制动保持车辆良好的横向和偏航稳定性，同时适用于不同的驱动配置。这是通过两层控制结构实现的，其中高级控制器将模型预测控制 (MPC) 跟踪问题公式化，以生成每个单元的校正重心 (CG) 偏航力矩。下级控制器利用具有实时约束的控制分配 (CA) 算法以最佳方式计算每个车轮的差动制动器，并具有最大的轮胎利用率。为了评估其实时性能，在带有选择性差动制动系统的电动牵引拖车上进行了实验验证。观察到控制器在动态控制方面是有效的，同时可重新配置为各种驱动配置。此外，由于低成本和传感器必需品的数量，所提出的系统在生产拖拉机-拖车系统中具有巨大潜力。