Many researches have been conducted in the area of control applied to vehicle dynamics, aiming at reducing the possibility of the occurrence of the type of accident known as rollover. In this research, based on a common nonlinear model and its linearisation, a method for properly selecting matrices for solving the Riccati equation considering different speeds was proposed. The method showed in which ways speed really influences the choice of controller gains. By developing the dynamic equations for the yaw- and roll-coupled motions and modelling of controllers and state observers, it is possible to compare the efficacy of this control strategy using both linear and nonlinear simulations using Matlab. Significant results were obtained regarding the reduction of the rollover coefficient for a double-lane change manoeuvre at different speeds, thus indicating advantages of using this controller in practical cases.


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    Title :

    Vehicle rollover avoidance by application of gain-scheduled LQR controllers using state observers


    Contributors:

    Published in:

    Vehicle System Dynamics ; 54 , 2 ; 191-209


    Publication date :

    2016-02-01


    Size :

    19 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English






    Vehicle rollover avoidance by application of gain-scheduled LQR controllers using state observer

    Dal Poggetto,V.F. / Serpa,A.L. / Uni.of Campinas,UNICAMP,BR | Automotive engineering | 2016



    Vehicle Rollover Avoidance

    Chen, Shih-Ken / Moshchuk, Nikolai / Nardi, Flavio et al. | Tema Archive | 2010