Road Train Sideslip and Jackknifing Angle Estimation using Functional Observer

Abstract

In this paper we consider the problem of a road train dynamic parameter estimation, specifically the truck and semitrailer axle sideslip angles, and road train jackknifing angle. We introduce a state-space linear model of road train planar motion obtained via the analytical linearization of the nonlinear model under the assumption of small slip and jackknifing angles. For this state-space linear model, we devise a linear functional of its state variables to calculate the slip and jackknifing angles. Using these proposed state-space models and linear functional of its states we design a functional observer to estimate the slip and jackknifing angles. Finally, analyzing the computer simulation results, we show that the proposed algorithm of the slip and jackknifing angles of a road train estimation works fairly well, with low estimation error, even under quite difficult driving maneuvers.