Rollover Stability Control for Heavy Vehicles by Using LPV Model

Abstract

The paper is concerned with the use of active roll control systems employing active anti roll bars in order to improve the roll stability of heavy vehicles. Since the forward velocity of the vehicle changes in time, the combined yaw-roll dynamic model has a nonlinear structure. Selecting the velocity as a scheduling parameter, a Linear Parameter Varying (LPV) model is constructed. In the control design based on an LPV method, the changes in the forward velocity and both the performance requirements and the model uncertainties are taken into consideration. The control design is demonstrated in different situations.