Abstract
In this paper, a reconfigurable control structure called a Fault-Tolerant Rollover Prevention System is proposed. This structure includes active suspensions, active anti-roll bars and an active brake. The purpose of this structure is to improve the performance properties of heavy vehicles, i.e. to reduce the risk of rollovers and to improve passenger comfort and road holding. In the control design, the changes in forward velocity, the performance specifications both for rollover and suspension problems and the model uncertainties are taken into consideration. The design of the control system is based on the H∞ linear parameter varying (LPV) method. The LPV based control design and the operation of the control mechanism are demonstrated in various vehicle manoeuvres.
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