Investigation of robust roll motion control considering varying speed and actuator dynamics

Abstract

This paper presents the design of an active roll controller for a vehicle and an experimental study using the electrically actuating roll control system. Firstly, parameter sensitivity analysis is performed based on the 3DOF linear vehicle model. The controller is designed in the framework of lateral acceleration control and gain-scheduled H ∞ control scheme considering the varying parameters induced by laden and running vehicle condition. In order to investigate the feasibility of an active roll control system, experimental work is performed using a hardware-in-the-loop (Hil) setup which has been constructed using the devised electrically actuating system and a full vehicle model with tire characteristics. The performance is evaluated by experiment using the devised Hil setup under the conditions of steering maneuvers and parameter variations. Finally, in order to enhance the control performance in the transient region, a hybrid control strategy is proposed.