COMPARISON OF YAW STABILITY CONTROL METHODS FOR MINING TRUCKS

摘要

Yaw stability control systems are commonly used on passenger vehicles, however few systems have been developed for mining vehicles, which are much larger and heavier than passenger vehicles. This paper presents two distinct formulations of yaw stability control, one based on MPC and the other on nonlinear feedback control. Both formulations are applied to a mining truck in simulation. While both systems perform well in scenarios with moderate friction levels, improved yaw stability control performance of the MPC controller was observed when mismatch was present between the estimated and actual road friction level.