Vehicle rollover is controlled by a nonlinear model predictive control method, in which the C/GMRES (continuation/generalized minimal residual) method is used to solve an optimal control problem in real time. Vehicle rollover can be simply represented by a cart-pole or an inverted pendulum consisting of a pendulum attached to a cart that rolls freely on a flat surface. A necessary condition for tip-up is given that is based on the surface friction coefficient and the location of the vehicle's center of gravity. Simulation results show that the system is stabilized successfully, preventing vehicle rollover.
Stabilization of vehicle rollover by nonlinear model predictive control
The SICE Annual Conference 2013 ; 1568-1573
2013-09-01
334472 byte
Conference paper
Electronic Resource
English
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