Control and handling of heavy commercial vehicles carrying liquid cargo are influenced by liquid movement within the partially filled tank. During steering and braking maneuvering tasks, the truck may exhibit unstable behavior at lateral acceleration levels of 0.3 g to 0.4 g (m/s 2 ). The fluid slosh forces and dynamic load transfers in the lateral and longitudinal directions and parametric uncertainties caused by moving liquid cargo affect the overall dynamics of the vehicle. To solve a physical problem about the minimal excitation of the slosh dynamics associated with the longitudinal and lateral excitation of the vehicle, dynamic sliding surface design combined with recursive backstepping algorithm is introduced. Compensator dynamics are introduced in the sliding mode through a class of switching surfaces which has the interpretation of linear operators such that the resulting closed-loop system retains the insensitivity to uncertainties in the sliding mode while minimizing the excitation of flexible modes and unmodeled dynamics. The frequency shaped backstepping sliding mode algorithm, proposed by Acarman and Ozguner (Frequency shaping compensation for backstepping sliding mode control. Paper presented at the 15th IFAC World Congress , Barcelona, Spain, 2002), is designed to stabilize and to attenuate the sloshing effects of moving cargo by properly choosing the crossover frequencies of the dynamic compensators in accordance with the fundamental frequencies of the slosh dynamics.


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    Title :

    Rollover prevention for heavy trucks using frequency shaped sliding mode control


    Additional title:

    Überschlagsverhütung bei schweren LKWs unter Anwendung von frequenzangepasster gleitender Regelung


    Contributors:

    Published in:

    Vehicle System Dynamics ; 44 , 10 ; 737-762


    Publication date :

    2006


    Size :

    26 Seiten, 21 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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