Application of Nonlinear Control for Hard Truck Platooning

This paper first describes a novel concept called Hard Truck Platooning that achieves platooning between commercial semi-trucks with the aid of a “smart hard connect” between the trailer of the leading vehicle and the tractor of the following vehicle. The control of the following vehicle is governed by nonlinear dynamics. This paper presents a nonlinear control strategy that comprehends such dynamics. First an appropriate set of tracking variables that will satisfy the overall platooning objectives is identified. Then the system dynamics are cast in terms of these tracking variables. An input-output feedback linearization technique is used for the controller to track the reference values for these variables. Finally, simulation results for a two-truck platooning experiment are presented to illustrate and validate the developed controller.