Switched Control for Reducing Impact of Vertical Forces on Road and Heavy-Vehicle Rollover Avoidance

The aim of this paper consists of developing a hybrid active control system to reduce the impact of vertical forces on roads and, therefore, to avoid the rollover of heavy vehicles (HVs). The controller is based on a super twisting algorithm. Two states are then fixed, which correspond to the controller being on or off. They are based on the lower limit and the upper limit of lateral acceleration. These states have been computed from the fixed lower limit and upper limit of the load transfer ratio (LTR). The system switches between these two states to control the vehicle. An estimator based on the sliding-mode observer is also developed to estimate the vehicle dynamics, such as yaw rate, roll angle, and lateral acceleration. The lateral positions and speeds are then controlled to limit the lateral acceleration of the vehicle, reduce the effect of impact forces, and prevent the risk of vehicle rollover. To show the quality of this assistance system, simulation and experimental results are given in this paper. Ramp and chicane tests are then presented.

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