TY - GEN
T1 - Rollover avoidance for steerable vehicles by invariance control
AU - Wollherr, Dirk
AU - Mareczek, Jörg
AU - Buss, Martin
AU - Schmidt, Günther
N1 - Publisher Copyright:
© 2001 EUCA.
PY - 2001
Y1 - 2001
N2 - In this paper we address the problem of vehicle rollover avoidance control by applying the novel control method of Invariance Control which allows a nonlinear and non smooth controller design together with a formal proof of stability. The presented strategy leaves a maximum degree of freedom for steering to the driver. In addition a time-discrete rollover avoidance controller suitable for implementation is derived, which is both, robust and real-time computable. We validate the proposed approach by hardware-in-the-loop simulations of the nonlinear vehicle with a human driver in the loop, using a force feedback steering device.
AB - In this paper we address the problem of vehicle rollover avoidance control by applying the novel control method of Invariance Control which allows a nonlinear and non smooth controller design together with a formal proof of stability. The presented strategy leaves a maximum degree of freedom for steering to the driver. In addition a time-discrete rollover avoidance controller suitable for implementation is derived, which is both, robust and real-time computable. We validate the proposed approach by hardware-in-the-loop simulations of the nonlinear vehicle with a human driver in the loop, using a force feedback steering device.
KW - Invariance Control
KW - Nonlinear control
KW - vehicle rollover avoidance
UR - http://www.scopus.com/inward/record.url?scp=84947475137&partnerID=8YFLogxK
U2 - 10.23919/ecc.2001.7076480
DO - 10.23919/ecc.2001.7076480
M3 - Conference contribution
AN - SCOPUS:84947475137
T3 - 2001 European Control Conference, ECC 2001
SP - 3522
EP - 3527
BT - 2001 European Control Conference, ECC 2001
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th European Control Conference, ECC 2001
Y2 - 4 September 2001 through 7 September 2001
ER -