Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 42-48 |
| Number of pages | 7 |
| Journal | Journal of Institute of Control, Robotics and Systems |
| Volume | 24 |
| Issue number | 1 |
| DOIs | |
| State | Published - 2018 |
Keywords
- H∞ preview control
- Linear optimal control
- Preview control
- Rollover prevention
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