Roll Rejection Control of 3-Axle Semi-Trailer Truck using Steerable-wheel Optimized with Particle Swarm Optimization (PSO)

Abstract

This paper focuses on roll rejection control due to rollover accidents frequently occurred especially among the heavy vehicles. A roll control method has been proposed to counter the unwanted roll issue using a steerable-wheel at second axle on a 3-axle semi-trailer truck. PID and skyhook controller has been used in the control structure to reduce the unwanted roll, lateral and yaw motions of the truck vehicle. PID-skyhook parameters are then optimized using PSO to obtain the optimum responses of truck vehicle handling performance. The optimized controller finally implemented into controller showed a significant improvement in suppressing lateral acceleration, yaw rate and roll motion of truck vehicle.