Modelling and control of a double articulated vehicle with four steerable axles

This paper describes the modelling of a double articulated bus and the controller design for lateral guidance of these vehicles. The bus is assumed to have all wheel steering and independent drives on each wheel of the semi-trailer and the rear-wheels of the tractor. These independent drives together with the steering angles yield 7 possible control inputs. For lateral guidance, 4 inputs are enough. It is shown that the steering angles are the most beneficial inputs. An H_∞ controller has been designed to guide the bus along a bus lane. This controller shows good performance under varying road conditions