차량 전복 방지를 위한 정적 출력 피드백 제어기 설계

Abstract

This paper presents static output feedback LQ and <TEX>$H_{\infty}$</TEX> 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 <TEX>$H_{\infty}$</TEX> 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.