Title: Robust model referenced control for vehicle rollover prevention with time-varying speed

Authors: Ke Shao; Jinchuan Zheng; Kang Huang; Mingming Qiu; Zhe Sun

Addresses: Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518055, China ' School of Software and Electrical Engineering, Swinburne University of Technology, Melbourne, VIC, 3122, Australia ' School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, 230001, China ' School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, 230001, China ' College of Information Engineering, Zhejiang University of Technology, Hangzhou, Zhejiang, 310023, China

Abstract: In this paper, an active steering control strategy is proposed to prevent rollover of a vehicle with a time-varying forward speed. The controller is designed with the aim of reducing the rollover index (RI) from an initial dangerous status to an absolutely safe status by active steering. The controller consists of two parts. The nominal control is firstly designed on the basis of the fundamental equation of constrained motion (FECM) of the vehicle, which will guarantee the nominal vehicle to track the desired states and thus rollover is prevented. To handle system uncertainties, compensatory sliding mode control (SMC) is proposed, by which the actual states are forced to track the desired ones. In the controller, the chattering problem can be alleviated by selecting a suitable performance function. To indicate the merits of the designed controller, simulation is conducted. Simulation results demonstrate that compared to conventional controllers, the proposed controller can prevent the vehicle from rollover with stronger robustness and without system chattering.

Keywords: rollover prevention; active steering; time-varying speed; FECM; fundamental equation of constrained motion; SMC; sliding mode control; robustness.

DOI: 10.1504/IJVD.2021.117154

International Journal of Vehicle Design, 2021 Vol.85 No.1, pp.48 - 68

Accepted: 19 May 2020
Published online: 19 Aug 2021 *

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