Title: Rollover stability control in steer-by-wire vehicles based on an LPV method

Authors: P. Gaspar, I. Szaszi, J. Bokor

Addresses: Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13 17, H 1111 Budapest, Hungary. ' Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13 17, H 1111 Budapest, Hungary. ' Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13 17, H 1111 Budapest, Hungary

Abstract: In this paper a combined control structure, which includes an active steering and an active brake system, is proposed for tracking the path of the vehicle. Besides tracking, this control also guarantees the prevention of rollovers. First, a linear parameter varying (LPV) model is constructed, in which both the performance specifications and the model uncertainties are taken into consideration. Then a parameter-dependent LPV controller based on the H_∞ method is designed. The control mechanism is demonstrated in various manoeuvre situations.

Keywords: rollover stability; steer-by-wire vehicles; control design; linear parameter varying control; non-linear modelling; robustness; intelligent vehicle systems.

DOI: 10.1504/IJHVS.2006.009121

International Journal of Heavy Vehicle Systems, 2006 Vol.13 No.1/2, pp.125 - 143

Published online: 02 Mar 2006 *

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