This paper presents the application of a nominal control design algorithm for rollover prevention of heavy articulated vehicles with active anti-roll bar control. This proposed methodology is based on an extension of Linear Quadratic Regulator (LQR) control for ‘state derivative induced (control coupled) output regulation’ problems. For heavy articulated vehicles with multiple axles, a performance index with Multiple Rollover Indices (MRI) is proposed. The proposed methodology allows us to compare the usefulness of various control configurations (i.e. actuators at different axles of the vehicle) based on the interaction of this control configuration with vehicle dynamics. Application of this methodology to a specific heavy articulated vehicle with tractor semi-trailer shows that a single active anti-roll bar system at the trailer unit gives better performance than multiple-axle actuators at tractor and trailer together with the double lane change maneuver as the external disturbance.
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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
Active Roll Control for Rollover Prevention of Heavy Articulated Vehicles With Multiple-Rollover-Index Minimization Available to Purchase
Hsun-Hsuan Huang,
Hsun-Hsuan Huang
The Ohio State University, Columbus, OH
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Rama K. Yedavalli
Rama K. Yedavalli
The Ohio State University, Columbus, OH
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Hsun-Hsuan Huang
The Ohio State University, Columbus, OH
Rama K. Yedavalli
The Ohio State University, Columbus, OH
Paper No:
DSCC2010-4278, pp. 797-804; 8 pages
Published Online:
January 25, 2011
Citation
Huang, H, & Yedavalli, RK. "Active Roll Control for Rollover Prevention of Heavy Articulated Vehicles With Multiple-Rollover-Index Minimization." 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. 797-804. ASME. https://doi.org/10.1115/DSCC2010-4278
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