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Type: Artigo
Title: Vehicle rollover avoidance by application of gainscheduled LQR controllers using state observers
Author: Poggetto, Vinicius F. Dal
Serpa, Alberto L.
Abstract: Many researches have been conducted in the area of control applied to vehicle dynamics, aiming at reducing the possibility of the occurrence of the type of accident known as rollover. In this research, based on a common nonlinear model and its linearisation, a method for properly selecting matrices for solving the Riccati equation considering different speeds was proposed. The method showed in which ways speed really influences the choice of controller gains. By developing the dynamic equations for the yaw- and roll-coupled motions and modelling of controllers and state observers, it is possible to compare the efficacy of this control strategy using both linear and nonlinear simulations using Matlab. Significant results were obtained regarding the reduction of the rollover coefficient for a double-lane change manoeuvre at different speeds, thus indicating advantages of using this controller in practical cases
Subject: Segurança
Country: Reino Unido
Editor: Taylor & Francis
Rights: Aberto
Identifier DOI: 10.1080/00423114.2015.1125005
Date Issue: 2016
Appears in Collections:FEM - Artigos e Outros Documentos

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