Design of feedforward controller for active roll stabilization

This article describes a design procedure of feedforward controller for active roll stabilization (ARS). To design a controller, a linear 1-DOF roll model is adopted. With the linear model, feedback controllers, i.e., linear quadratic regulator and sliding mode controller, are designed. In order to use the lateral acceleration for control, a feedforward term is derived from the discrete-time state-space equation. The designed controllers use the roll angle, the roll rate and the lateral acceleration. To estimate the roll angle and the lateral acceleration, a discrete-time Kalman filter is used. For verification of the effectiveness of the proposed control method, simulation has been performed via the vehicle simulation tool package, CarSim. From simulation, it has been verified that the proposed method can enhance the performance of active roll stabilization.