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ICRA
2010
IEEE

Stabilizing a vehicle near rollover: An analogy to cart-pole stabilization

9 years 2 months ago
Stabilizing a vehicle near rollover: An analogy to cart-pole stabilization
—An analogy between the dynamics of a cart-pole system and vehicle rollover dynamics is used to derive a controller for tipping up and stabilizing a planar model of a passenger vehicle near rollover by controlling lateral tire friction forces. The controller is based on a previously published controller for stabilizing a cart-pole using partial feedback linearization and energy shaping. A necessary condition for tip-up is given based on the surface friction coefficient and the location of the vehicle center of gravity (c.g.). A multi-body vehicle model with suspension is presented in the form of the robotic manipulator equations. Simulation results are presented demonstrating the effect of friction and suspension properties on the tip-up problem.
Steven C. Peters, James E. Bobrow, Karl Iagnemma
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Steven C. Peters, James E. Bobrow, Karl Iagnemma
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