In this paper, a novel control system analysis and design technique is presented by transforming rollover index minimization as an optimal control problem in the popular Linear Quadratic Regulator (LQR) control design framework. This results in a ‘control coupled output regulation’ problem because of the coupled terms in state and control variables in the performance index. There are no guidelines available for the selection of state and control weightings for the coupled case. In this paper, we present considerable insight into the major differences in the optimal control problem formulation for the uncoupled and coupled cases and provide guidelines for weight selections by taking into consideration the interaction (or coupling) between state and control terms and using the property of ‘Output Zeroing’ controller. The proposed analysis and design method is illustrated with rollover prevention control for a multi-body Ground Vehicle using the active steering control and active roll control respectively.
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ASME 2010 Dynamic Systems and Control Conference
September 12–15, 2010
Cambridge, Massachusetts, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4418-2
PROCEEDINGS PAPER
Rollover Prevention of Multi-Body Ground Vehicles Extending LQR Design for Control Coupled Output Regulation Available to Purchase
Rama K. Yedavalli,
Rama K. Yedavalli
The Ohio State University, Columbus, OH
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Hsun-Hsuan Huang
Hsun-Hsuan Huang
The Ohio State University, Columbus, OH
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Rama K. Yedavalli
The Ohio State University, Columbus, OH
Hsun-Hsuan Huang
The Ohio State University, Columbus, OH
Paper No:
DSCC2010-4277, pp. 789-796; 8 pages
Published Online:
January 25, 2011
Citation
Yedavalli, RK, & Huang, H. "Rollover Prevention of Multi-Body Ground Vehicles Extending LQR Design for Control Coupled Output Regulation." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 2. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 789-796. ASME. https://doi.org/10.1115/DSCC2010-4277
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