Title: A methodology for the design of robust rollover prevention controllers for automotive vehicles using differential braking

Authors: Jimmy Chiu, Selim Solmaz, Martin Corless, Robert Shorten

Addresses: School of Aeronautics and Astronautics, Purdue University, West Lafayette, IN, USA. ' Hamilton Institute, National University of Ireland, Maynooth, Ireland. ' School of Aeronautics and Astronautics, Purdue University, West Lafayette, IN, USA. ' Hamilton Institute, National University of Ireland, Maynooth, Ireland

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.

Keywords: 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.

DOI: 10.1504/IJVAS.2010.035794

International Journal of Vehicle Autonomous Systems, 2010 Vol.8 No.2/3/4, pp.146 - 170

Received: 16 Mar 2009
Accepted: 22 Oct 2009

Published online: 04 Oct 2010 *

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