Vehicle Tip-over Prevention Using SDRE Controller (original) (raw)

2020

Abstract

Vehicle rollovers are known to produce the highest number of deaths amongst vehicle accidents. Rollover prevention systems currently available in commercial vehicles attempts to prevent any wheel lift-off the ground to avoid a subsequent rollover. In literature, attempts that were made to recover a vehicle from a tip-over point after a wheel lift-off has occurred are only a few. The present article proposes a State Dependent Riccati Equation (SDRE) based anti-rollover controller to recover a vehicle from tip-over point. SDRE method delivers a simple yet effective solution to the nonlinear optimal control problem. An Inverted Double Pendulum on a Cart Model (IDPC) acts as the base model in the controller. The tip-over point of the IDPC model is an unstable equilibrium point of the model and the gravity torque has a negligibly small effect in this vicinity. In the SDRE method, this unstable equilibrium point acts as a singularity point. A virtual rollover torque is used with the IDPC ...

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