S.m. Shariatmadar, M. Manteghi, M. Tajdari,
Volume 2, Issue 2 (4-2012)
Abstract
Non-linear characteristic of tire forces is the main cause of vehicle lateral dynamics instability,
while direct yaw moment control is an effective method to recover the vehicle stability. In this
paper, an optimal linear quadratic regulator (LQR) controller for roll-yaw dynamics to
articulated heavy vehicles is developed. For this purpose, the equations of motion obtained by
the MATLAB software are coded and then a control law is introduced by minimizing the local
differences between the predicted and the desired responses. The influence of some parameters
such as the anti roll bar, change the parameters of the suspension system and track wide in
articulated heavy vehicles stability has been studied. The simulation results show that the
vehicle stability can be remarkably improved when the optimal linear controller is applied
