×

A methodology for the design of robust rollover prevention controllers for automotive vehicles with active steering. (English) Zbl 1130.93359

Summary: In this paper we present a robust controller design methodology for vehicle rollover prevention utilizing active steering. Control design is based on keeping the magnitude of the vehicle load transfer ratio (LTR) below a certain level in the presence of driver steering inputs; we also develop an exact expression for LTR. The proposed controllers have a proportional-integral structure whose gain matrices are obtained using the results of T. Pancake, M. Corless and M. Brockman [“Analysis and control of polytopic uncertain/nonlinear systems in the presence of bounded disturbance inputs”, Proc. Am.Control Conf., Chicago, IL (2000); T. Pancake, M. Corless and M. Brockman, ”Analysis and control for a class of uncertain/nonlinear systems in the presence of bounded disturbance inputs” (2007)]. These controllers reduce the transient magnitude of the LTR while maintaining the steady state steering response of the vehicle. The controllers can be designed to be robust with respect to vehicle parameters such as speed and centre of gravity height. We also provide a modification to the controllers so that they only activate when the potential for rollover is significant. Numerical simulations demonstrate the efficacy of our approach and the resulting controllers.

MSC:

93B51 Design techniques (robust design, computer-aided design, etc.)
93C85 Automated systems (robots, etc.) in control theory
68T40 Artificial intelligence for robotics
93B35 Sensitivity (robustness)
PDFBibTeX XMLCite
Full Text: DOI Link

References:

[1] Ackermann J, Proceedings of International Conference on Advances in Vehicle Control and Safety pp 118– (1998)
[2] Carlson CR, Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE’03 (2003)
[3] DOI: 10.1076/vesd.36.4.359.3546 · doi:10.1076/vesd.36.4.359.3546
[4] Kamnik R, Proceedings of the Institution of Mechanical Engineers, Part D pp 985– (2003)
[5] Kiencke U, Automotive Control Systems for Engine, Driveline and Vehicle (2000)
[6] Odenthal D, Proceedings of European Control Conference (1999)
[7] DOI: 10.1076/vesd.32.4.285.2074 · doi:10.1076/vesd.32.4.285.2074
[8] Pancake T, Proceedings of the American Control Conference pp 159– (2000)
[9] DOI: 10.1109/CDC.2006.377179 · doi:10.1109/CDC.2006.377179
[10] Solmaz S, HYCON-CEmACS Workshop on Automotive Systems and Control (2006)
[11] Takano S, Proceedings of the IEEE International Vehicle Electronics Conference pp 85– (2001)
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.