A combined control structure has been proposed for tracking the path of the vehicle and preventing rollover. In normal situations the controller minimizes the tracking error and when the normalized load transfer has reached its critical value the brake control is also activated in order to prevent the rollover. The modelling and the control design are based on the LPV (Linear Parameter Varying) method. In the LPV model the forward velocity, the normalized lateral load transfer at the rear, and the critical value of the rollover are chosen as scheduling parameters. Then a parameter dependent LPV controller based on the Hinfinity design method is designed. The state space representation of the LPV controller is constructed by using the LMI (Linear Matrix Inequality) optimization problem. The LPV controller is able to handle the highly nonlinear model, as well as the performance demands and the model uncertainties. Since a chattering phenomenon may occur when using this combined control, the control structure is modified to eliminate this. In order to eliminate chattering, a hysteresis characteristic is applied with respect to the critical value of the load transfer.
Rollover avoidance for steer-by-wire vehicles by using linear parameter varying methods
Überschlagsvermeidung für elektronisch gelenkte (steer-by-wire) Fahrzeuge mittels linearen, parameterabhängigen Methoden
2003
6 Seiten, 4 Bilder, 1 Tabelle, 16 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
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