Vehicle dynamics control and controller allocation for rollover prevention

Summary, in English

Vehicle rollover accidents are a particularly dangerous form of road accident. Commercial vehicles are especially prone to rollover accidents due to their high centres of gravity. A nonlinear control strategy is presented which guarantees asymptotic tracking of a yaw rate reference while bounding the roll angle, thus preventing rollover. A new computationally-efficient control allocation strategy is used to map controller commands to braking forces, taking into account actuator constraints. Simulations show that the strategy is capable of preventing rollover of a commercial van during various standard test maneuvers

• Author: Brad Schofield; Tore Hägglund; Anders Rantzer
• Department/s: Department of Automatic Control
• Publishing year: 2006
• Language: English
• Pages: 8-13
• Publication/Series: 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
• Links: http://dx.doi.org/10.1109/CCA.2006.285884
• Document type: Conference paper
• Publisher: IEEE - Institute of Electrical and Electronics Engineers Inc.
• Topic: Control Engineering
• Keywords: control allocation; braking forces; commercial van; yaw rate reference; asymptotic tracking; nonlinear control; commercial vehicles; road accidents; vehicle rollover accidents; rollover prevention; vehicle dynamics control; controller allocation
• Conference name: 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
• Conference date: 2006-10-04 - 2006-10-06
• Conference place: Munich, Germany
• Status: Published
• ISBN/ISSN/Other: ISBN: 0-7803-9797-5