H∞/LPV active braking control system to prevent rollover of heavy vehicles

International audienceRollover of heavy vehicles is an important road safety problem world-wide. Several active control schemes have been proposed to prevent rollover, such as active steering, active suspension, active anti-roll bars, with the active braking system being the most common method used for heavy vehicles. In this paper, the active braking system is combined with the passive anti-roll bar system (the passive suspension system). The grid-based LPV approach is used to synthesize the H∞/LPV controller which is self-scheduled by two varying parameters: the forward velocity and the normalized load transfer at the rear axle. The parameter dependent weighting function for the lateral acceleration is used in order to allow for the vehicle performance adaptation to the risk of rollover. Simulation results are performed in the frequency domain, and emphasize the efficiency of the proposed methodology