Design of a robust controller for rollover prevention with active suspension and differential braking

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• 作者：Seongjin Yim (1) acebtif@gmail.com
• 关键词：Rollover prevention control &#8211 ; Robust control &#8211 ; Parameter sensitivity reduction &#8211 ; Linear quadratic static output feedback &#8211 ; Active suspension &#8211 ; Differential braking
• 刊名：Journal of Mechanical Science and Technology
• 出版时间：January 2012
• 出版年：2012
• 期刊代码：108_1976-3824
• 类别：et
• 卷：26
• 期：1
• 页码：213-222
• 数据来源：sp

摘要

This paper presents a method to design a robust controller for rollover prevention. Several types of controllers for rollover prevention have been proposed in such a way to minimize the lateral acceleration and the roll angle. The rollover prevention capability of these controllers can be enhanced if the controlled vehicle system is robust to the variation of the height of the center of gravity (C.G.) and the speed of the vehicle. With this idea, a robust controller is designed with linear quadratic static output feedback and parameter sensitivity reduction scheme. Differential braking and an active suspension system are adopted as actuators that generate yaw and roll moments, respectively. The proposed method is shown to be effective in preventing rollover through simulations on the nonlinear multi-body dynamic simulation software, CarSim庐.