Title: A fault-tolerant rollover prevention system based on an LPV method

Authors: P. Gaspar, 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

Abstract: In this paper, a reconfigurable control structure called a Fault-Tolerant Rollover Prevention System is proposed. This structure includes active suspensions, active anti-roll bars and an active brake. The purpose of this structure is to improve the performance properties of heavy vehicles, i.e. to reduce the risk of rollovers and to improve passenger comfort and road holding. In the control design, the changes in forward velocity, the performance specifications both for rollover and suspension problems and the model uncertainties are taken into consideration. The design of the control system is based on the H linear parameter varying (LPV) method. The LPV based control design and the operation of the control mechanism are demonstrated in various vehicle manoeuvres.

Keywords: linear parameter varying; LPV control; nonlinear modelling; road vehicle; robust control; uncertainty structure; fault tolerance; rollover prevention; vehicle control; vehicle design; reconfigurable control; heavy vehicle systems; active suspensions; active anti-roll bars; active braking; passenger comfort; road holding.

DOI: 10.1504/IJVD.2006.010439

International Journal of Vehicle Design, 2006 Vol.42 No.3/4, pp.392 - 412

Available online: 21 Jul 2006

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