This document discusses the design of a controller for an articulated heavy vehicle (AHV) with an active trailer steering (ATS) system operating over a wireless network control system. Time-varying delays in the wireless network can affect stability of the closed-loop system. The AHV is modeled with three degrees of freedom. A linear quadratic regulator (LQR) output feedback controller is designed to maintain stability despite varying network delays. A gain scheduling controller selects appropriate LQR gains according to the detected time delay.