TY - JOUR
T1 - Design of a rollover prevention controller with H∞ preview control
AU - Yim, Seongjin
N1 - Publisher Copyright:
© ICROS 2018.
PY - 2018
Y1 - 2018
N2 - This paper presents a method to design a rollover prevention controller with H∞ preview control. The discrete-time statespace model, derived from 2-DOF bicycle and 1-DOF roll ones, is used for controller design. Discrete-time H∞ preview control is adopted to design a rollover prevention controller. Linear matrix inequality (LMI) is used to compute the controller gain matrix. Differential braking and active anti-roll bar are used for generation of yaw and roll moments, respectively. For yaw moment generation with differential braking, a weighted pseudo-inverse based control allocation (WPCA) is adopted. The designed controller is compared with linear quadratic (LQ) optimal preview control. To check the effectiveness of the proposed method, simulation on vehicle simulation package is conducted.
AB - This paper presents a method to design a rollover prevention controller with H∞ preview control. The discrete-time statespace model, derived from 2-DOF bicycle and 1-DOF roll ones, is used for controller design. Discrete-time H∞ preview control is adopted to design a rollover prevention controller. Linear matrix inequality (LMI) is used to compute the controller gain matrix. Differential braking and active anti-roll bar are used for generation of yaw and roll moments, respectively. For yaw moment generation with differential braking, a weighted pseudo-inverse based control allocation (WPCA) is adopted. The designed controller is compared with linear quadratic (LQ) optimal preview control. To check the effectiveness of the proposed method, simulation on vehicle simulation package is conducted.
KW - H∞ preview control
KW - Linear optimal control
KW - Preview control
KW - Rollover prevention
UR - https://www.scopus.com/pages/publications/85040097788
U2 - 10.5302/J.ICROS.2018.17.0185
DO - 10.5302/J.ICROS.2018.17.0185
M3 - Article
AN - SCOPUS:85040097788
SN - 1976-5622
VL - 24
SP - 42
EP - 48
JO - Journal of Institute of Control, Robotics and Systems
JF - Journal of Institute of Control, Robotics and Systems
IS - 1
ER -