An adaptive model tracking control for vehicle-trailer system

In the control design of vehicle-trailer combination for stability and handling performance enhancement, the trailer parameters are typically uncertain or even unknown due to its nature of largely varying types, sizes, especially the loading. This paper proposes an indirect adaptive control approach aimed to improve the control robustness and the performance under the conditions where trailer parameters are varied or even unknown. Simulation based on both linear and nonlinear models has been conducted and the proposed method has been verified.