# 차량 전복 방지를 위한 롤 및 요 운동 제어기의 성능 비교

• Yim, Seongjin (Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology)
• 임성진 (서울과학기술대학교 기계자동차공학과)
• Accepted : 2014.04.11
• Published : 2014.07.01

#### Abstract

This article presents a comparison among several yaw and roll motion controllers for vehicle rollover prevention. In the previous research, yaw and roll motion controllers can be independently designed for rollover prevention. Following this idea, several yaw and roll motion controllers are designed and compared in terms of rollover prevention. For the yaw motion control, PID, LQR, SMC (Sliding Mode Control) and TDC (Time-Delay Control) are adopted. For the roll motion control, LQR, LQ SOF (Static Output Feedback) control, PID, and SMC are adopted. To compare the performance of each controller, simulation is performed on a vehicle simulation package, CarSim$^{(R)}$. From simulation, TDC and LQ SOF are the best for yaw and roll motion control, respectively.

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