Adaptive Rollover Prevention for Automotive Vehicles with Differential Braking
Solmaz, Selim and Akar, Mehmet and Shorten, Robert (2008) Adaptive Rollover Prevention for Automotive Vehicles with Differential Braking. .
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In this paper we present an adaptive controller implementation based on the multiple models, switching, and tuning (MMST) paradigm for preventing untripped rollover in automotive vehicles. Our approach relies on differential-braking to keep the value of the Load Transfer Ratio (LTR) below a threshold. We first employ multiple models to infer the unknown center of gravity height and the suspension parameters of the vehicle, which are subsequently used to switch to the corresponding rollover controller. The proposed multicontroller switched scheme is shown via numerical simulations to result in better performance than its fixed robust counterpart.
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