Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Design of Static Output Feedback Controllers for Rollover Prevention

차량 전복 방지를 위한 정적 출력 피드백 제어기 설계

  • Yim, Seongjin (Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology) ;
  • Oh, Dongho (Department of Mechanical Engineering, Chungnam National University)
  • 임성진 (서울과학기술대학교 기계자동차공학과) ;
  • 오동호 (충남대학교 기계공학과)
  • Received : 2013.01.14
  • Accepted : 2013.08.02
  • Published : 2014.01.01
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Abstract

This paper presents static output feedback LQ and $H_{\infty}$ controllers for rollover prevention. Linear quadratic static output feedback controllers have been proposed for rollover prevention in such a way to minimize the lateral acceleration and the roll angle. Rollover prevention capability can be enhanced if $H_{\infty}$ controller is designed. To avoid full-state measurement for feedback requirement or sensitiveness of an observer to nonlinear model error, static output feedback is adopted. To design static output feedback controllers, Kosut's method is adopted because it is simple to calculate. Differential braking and active anti-roll bar are adopted as actuators that generate yaw and roll moments, respectively. The proposed method is shown to be effective in preventing rollover through the simulations on nonlinear multi-body dynamic simulation software, CarSim.

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References

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