차량 전복 방지를 위한 정적 출력 피드백 제어기 설계

This paper presents static output feedback LQ and H∞ controllers for rollover prevention. Linear quadraticstatic output feedback controllers have been proposed for rollover prevention in such a way to minimize the lateralacceleration and the roll angle. Rollover prevention capability can be enhanced if H∞ controller is designed. To avoidfull-state measurement for feedback requirement or sensitiveness of an observer to nonlinear model error, static outputfeedback is adopted. To design static output feedback controllers, Kosut's method is adopted because it is simple tocalculate. Differential braking and active anti-roll bar are adopted as actuators that generate yaw and roll moments,respectively. The proposed method is shown to be effective in preventing rollover through the simulations on nonlinearmulti-body dynamic simulation software, CarSim.