Application of Nonlinear Control for Hard Truck Platooning Conference Paper uri icon


  • This thesis describes a novel concept called "Hard Truck Platooning" that achieves platooning between commercial tractor trailers with the aid of a smart tow hitch between the trailer of the leading vehicle and the tractor of the following vehicle. The control of the following vehicle is governed by highly nonlinear dynamics. This project 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 is 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. Simulation results for a two truck platooning experiment are presented to illustrate and validate the developed controller. Lastly, progress is presented on physical implementation of this controller on a pair of semi trucks.

name of conference

  • 2022 International Conference on Connected Vehicle and Expo (ICCVE)

published proceedings

  • 2022 International Conference on Connected Vehicle and Expo (ICCVE)

author list (cited authors)

  • Franklin, D. J., Ashley, M., & Gopalswamy, S.

complete list of authors

  • Franklin, David J||Ashley, Michiel||Gopalswamy, Swaminathan

publication date

  • March 2022