An investigation into the structures of linear quadratic controllers for vehicle rollover prevention

This paper presents a comparison between structures of linear quadratic controllers for vehicle rollover prevention. Three types of linear quadratic controller, namely a linear quadratic regulator, a structured controller and a separated controller, are compared. These controllers can control yaw and roll motions. The point is whether the yaw motion and the roll motion can be controlled separately for effective rollover prevention. The separation between a yaw motion controller and a roll motion controller is captured by using structured and separated controllers. Simulations on the vehicle simulation software CarSim® are performed to show that a structured controller and a separated controller are equivalent to a linear quadratic regulator for vehicle rollover prevention.