Title: Active roll control for rollover prevention of semi-trailers with robust invariant set

Authors: Echuan Yang; Chuanren Xie; Jian Ou; Senlin Zhang; Liang Qin

Addresses: School of Mechanical Engineering, Chongqing University of Technology, Chongqing, 400054, China ' School of Vehicle Engineering, Chongqing University of Technology, Chongqing, 400054, China ' School of Vehicle Engineering, Chongqing University of Technology, Chongqing, 400054, China ' School of Vehicle Engineering, Chongqing University of Technology, Chongqing, 400054, China ' Chongqing Dajiang Industrial Co., Ltd., Chongqing, 401321, China

Abstract: To improve the roll stability of semi-trailers, a robust model predictive controller (RMPC) is designed. To analysis the vehicle dynamic behaviour, a nonlinear seven-degree of freedom (7-DOF) vehicle model is defined. Based on the robust invariant set theory, and taking the uncertainty of the driver's driving behaviour into account, the maximal robust control invariant (RCI) set is calculated and its robustness is analysed. The N-step controllable sets of the vehicle are also solved. An anti-roll controller considering multiple constraints is designed based on the robust model predictive control theory. Simulation results show that the controller can keep the lateral load transfer rate within 0.7 and make the state variables converge. In addition, the controller can reduce the lateral acceleration by 50% in the step steering input test.

Keywords: anti-roll control; invariant set; robust control; model predictive control; semi-trailer.

DOI: 10.1504/IJVD.2023.135496

International Journal of Vehicle Design, 2023 Vol.93 No.3, pp.226 - 242

Received: 01 Feb 2021
Accepted: 04 Aug 2021
Published online: 15 Dec 2023 *

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