A methodology for the design of robust rollover prevention controllers for automotive vehicles using differential braking. (5th October 2010)

• Record Type: Journal Article
• Authors: Chiu, Jimmy; Solmaz, Selim; Corless, Martin; Shorten, Robert
• Is Part Of: International journal of vehicle autonomous systems. Volume 8:Number 2/3/4(2010)
• Page Start: 146
• Page End: 170
• Publication Date: 2010-10-05
• Subjects: vehicle rollover -- vehicle active safety -- active rollover prevention -- robust control -- load transfer ratio -- LTR -- differential braking -- vehicle speed -- numerical simulation -- nonlinear modelling -- multi-body vehicle simulation; Autonomous vehicles -- Periodicals; Motor vehicles -- Technological innovations -- Periodicals; Motor vehicles -- Electronic equipment -- Periodicals; Robots -- Control systems -- Periodicals; Intelligent transportation systems -- Periodicals; 629.20285
• Languages: English
• ISSNs: 1471-0226

Abstract

In this paper we apply recent results from robust control to the problem of rollover prevention in automotive vehicles. Specifically, we exploit results which provide controllers to robustly guarantee that the peak values of the performance outputs of an uncertain system do not exceed certain values. As a measure of performance for rollover prevention, we use the Load Transfer Ratio (LTR) and design differential-braking-based rollover controllers to keep the value of this quantity below a certain level; we also obtain controllers which yield robustness to variations in vehicle speed. We present numerical simulations using a nonlinear multi-body vehicle simulation model to demonstrate the effectiveness of our controllers in preventing rollover.