Rollover Prevention Of A Heavy Vehicle Via TP Model Based H\infty Control Design Approach

Abstract

This paper is focusing on a novel nonlinear control design approach to solve the rollover prevention problem of a heavy vehicle. To provide a heavy vehicle with the ability to resist overturning moments generated during cornering, acombined yaw Áron model induding the roll dynamics of unsprung massesis studied. This model is nonlinear with respect to the velocity of the vehicle. In our model the velocity is handled as an LPV scheduling parameter. The Linear Parameter-Varying model of the heavy vehicle is transfonned in to aproper polytopic form by Tensor Product model transformation. The H\infty scheduling based control is immediately applied to this form for the stabilization. The effectiveness of the designed controller is demonstrated by numerical simulation.