Dynamics modeling and nonlinear observer design for vehicle rollover avoidance

DOI

10.2991/eeeis-16.2017.110How to use a DOI?

Keywords

Rollover prevention; Vehicle dynamics; Roll angle; Nonlinear observer; Asymptotically stable; Linear matrix inequalities

Abstract

A real-time accurate detecting the risk of an impending vehicle rollover is essential for active rollover avoidance systems. To this end, a 4DOF nonlinear vehicle roll dynamics model is developed, which fully exploit the coupling effects between the yaw dynamics, lateral dynamics, and roll dynamics. An asymptotically stable observer is presented by using the mean value theorem of vectorial form, and the observer gain is derived based on linear matrix inequalities (LMIs). The simulations demonstrate that the developed nonlinear observer can provide reliable estimation of the vehicle states, even under aggressive driving conditions.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chang-Fang Chen
AU  - Ming-Lei Shu
AU  - Ming Yang
AU  - Nuo Wei
PY  - 2016/12
DA  - 2016/12
TI  - Dynamics modeling and nonlinear observer design for vehicle rollover avoidance
BT  - Proceedings of the 2nd Annual International Conference on Electronics, Electrical Engineering and Information Science (EEEIS 2016)
PB  - Atlantis Press
SP  - 896
EP  - 909
SN  - 2352-5401
UR  - https://doi.org/10.2991/eeeis-16.2017.110
DO  - 10.2991/eeeis-16.2017.110
ID  - Chen2016/12
ER  -