Rollover avoidance for steerable vehicles by invariance control

Dirk Wollherr; Jörg Mareczek; Martin Buss; Günther Schmidt

doi:10.23919/ecc.2001.7076480

Rollover avoidance for steerable vehicles by invariance control

Dirk Wollherr, Jörg Mareczek, Martin Buss, Günther Schmidt

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

19 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2001 European Control Conference, ECC 2001
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3522-3527
Number of pages	6
ISBN (Electronic)	9783952417362
DOIs	https://doi.org/10.23919/ecc.2001.7076480
State	Published - 2001
Externally published	Yes
Event	6th European Control Conference, ECC 2001 - Porto, Portugal Duration: 4 Sep 2001 → 7 Sep 2001

Publication series

Name	2001 European Control Conference, ECC 2001

Conference

Conference	6th European Control Conference, ECC 2001
Country/Territory	Portugal
City	Porto
Period	4/09/01 → 7/09/01

Keywords

Invariance Control
Nonlinear control
vehicle rollover avoidance

Access to Document

10.23919/ecc.2001.7076480

Cite this

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title = "Rollover avoidance for steerable vehicles by invariance control",

abstract = "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.",

keywords = "Invariance Control, Nonlinear control, vehicle rollover avoidance",

author = "Dirk Wollherr and J{\"o}rg Mareczek and Martin Buss and G{\"u}nther Schmidt",

note = "Publisher Copyright: {\textcopyright} 2001 EUCA.; 6th European Control Conference, ECC 2001 ; Conference date: 04-09-2001 Through 07-09-2001",

year = "2001",

doi = "10.23919/ecc.2001.7076480",

language = "English",

series = "2001 European Control Conference, ECC 2001",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3522--3527",

booktitle = "2001 European Control Conference, ECC 2001",

}

Wollherr, D, Mareczek, J, Buss, M & Schmidt, G 2001, Rollover avoidance for steerable vehicles by invariance control. in 2001 European Control Conference, ECC 2001., 7076480, 2001 European Control Conference, ECC 2001, Institute of Electrical and Electronics Engineers Inc., pp. 3522-3527, 6th European Control Conference, ECC 2001, Porto, Portugal, 4/09/01. https://doi.org/10.23919/ecc.2001.7076480

Rollover avoidance for steerable vehicles by invariance control. / Wollherr, Dirk; Mareczek, Jörg; Buss, Martin et al.
2001 European Control Conference, ECC 2001. Institute of Electrical and Electronics Engineers Inc., 2001. p. 3522-3527 7076480 (2001 European Control Conference, ECC 2001).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Rollover avoidance for steerable vehicles by invariance control

AU - Wollherr, Dirk

AU - Mareczek, Jörg

AU - Buss, Martin

AU - Schmidt, Günther

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

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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 -

Rollover avoidance for steerable vehicles by invariance control

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Conference

Keywords

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