Abstract
This paper presents a method for designing a preview controller for vehicle rollover prevention. It is assumed that a driver's steering input is previewable with a Global Positioning System (GPS) and an inertial measurement unit (IMU), or with an automatic steering system for collision avoidance. Based on a linear vehicle model, a linear optimal preview controller is designed. To avoid the full-state measurement of a linear quadratic regulator (LQR), linear quadratic static output feedback (LQ SOF) control is adopted. To compare with several types of controllers such as LQR or LQ SOF with respect to rollover prevention capabilities, Bode plot analysis based on a linear vehicle model is performed. To show the effectiveness of the proposed controller, simulations are performed on a vehicle simulation package CarSim.
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