An active brake system is designed in order to decrease the rollover risk of heavy vehicles. Since the forward velocity of the vehicle changes in time, the combined yaw-roll dynamic model has a non-linear structure. Selecting the forward velocity and the so-called normalized lateral load transfer at the rear side as scheduling parameters, a LPV (Linear Parameter Varying) model is constructed. The control design itself is based on the Ljapunov quadratic stability criterion with respect to the uncertainty, which is caused by the difference between the linearized model and the actual nonlinear model, which contains the nonlinear tire force, the nonlinear suspension and actuator dynamics. In the control design based on the LPV model, the changes in the forward velocity, the performance requirements and the model uncertainties are taken into consideration. The control design is demonstrated in different situations.


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    Title :

    Brake control to prevent the rollover of heavy vehicles based on a linear parameter varying model


    Additional title:

    Vermeidung vom Überschlag mittels Bremsregelung für Schwerfahrzeuge unter Verwendung von linearen dynamischen Modellen mit Parameterabhängigkeit


    Contributors:
    Gaspar, P. (author) / Szaszi, I. (author) / Bokor, J. (author)


    Publication date :

    2003


    Size :

    6 Seiten, 4 Bilder, 1 Tabelle, 13 Quellen


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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