Catterick, JamieBotha, Theunis R.Els, Pieter Schalk2024-02-292024-02-292023Catterick, J., Botha, T. & Els, S. 2023, 'Articulated vehicle stability control using brake-based torque vectoring on trailer using nonlinear model predictive control', SAE International Journal of Commercial Vehicles, vol. 16, no. 1, pp. 111-126, doi : 10.4271/02-16-01-0007.1946-391X (print)1946-3928 (online)10.4271/02-16-01-0007http://hdl.handle.net/2263/94986Unstable articulated vehicles pose a serious threat to the occupants driving them as well as the occupants of the vehicles around them. Articulated vehicles typically experience three types of instability: snaking, jack-knifing, and rollover. An articulated vehicle subjected to any of these instabilities can result in major accidents. In this study a Nonlinear Model Predictive Control (NMPC) that applies brake-based torque vectoring on the trailer is developed to improve the articulated vehicle stability. The NMPC formulation includes tire saturation and applies constraints to prevent rollover. The controller output is a left and right brake force allowing the longitudinal velocity change to be incorporated into the model. Simulations were conducted to instigate snaking and jack-knifing and show the NMPC controller result compared to a simple proportional controller. The NMPC controller can prevent these instabilities and improves the overall handling and safety of the articulated vehicle.en© 2023 SAE International. All rights reserved.Nonlinear model predictive control (NMPC)Articulated vehicle stabilityBrake-based torque vectoringTorque vectoringModel predictive control (MPC)CrashesTrailersRollover accidentsVehicle occupantsStability controlCommercial vehicleEngineering, built environment and information technology articles SDG-03SDG-03: Good health and well-beingEngineering, built environment and information technology articles SDG-04SDG-04: Quality educationEngineering, built environment and information technology articles SDG-09SDG-09: Industry, innovation and infrastructureEngineering, built environment and information technology articles SDG-11SDG-11: Sustainable cities and communitiesPostprint Article