Robust Roll-Over Avoidance Control for a Laboratory Vehicle

Arie Shraiber, Per Olof Gutman, Tal Shima

Research output: Contribution to journalArticlepeer-review

Abstract

A Multiple Input Multiple Output (MIMO) robust roll-over avoidance control algorithm that prevents a laboratory vehicle from rolling over due to disturbances and extreme driving maneuvers is presented. The control signals are an auxiliary steering angle and an auxiliary vehicle velocity reference which are added to the steering angle and vehicle velocity reference commanded by the driver or the driving algorithm. The robust linear control law is designed by Quantitative Feedback Theory (QFT), utilizing an uncertain linear MIMO vehicle model identified from a measurement based non-linear vehicle model. The algorithm is tested in simulations and then on the actual laboratory vehicle with satisfactory performance.

Original languageEnglish
Pages (from-to)316-321
Number of pages6
JournalIFAC-PapersOnLine
Volume51
Issue number25
DOIs
StatePublished - 2018

Keywords

  • Dynamics
  • MIMO
  • QFT
  • Robust Control
  • Roll-Over

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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