Stabilizing a Vehicle near Rollover: An Analogy to Cart-Pole Stabilization
2010 (English)In: 2010 IEEE international conference on robotics and automation, Piscataway, N.J.: IEEE Press, 2010, p. 5194-5200Conference paper, Published paper (Refereed)
Abstract [en]
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. ©2010 IEEE.
Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2010. p. 5194-5200
Series
IEEE International Conference on Robotics and Automation. Proceedings, ISSN 1050-4729
Keywords [en]
Cart-pole system, Center of gravity, Energy-shaping, Multi-body, Partial feedback linearization, Passenger vehicles, Planar model, Robotic manipulators, Simulation result, Surface friction, Suspension properties, Tire friction, Vehicle model, Vehicle rollovers
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20743DOI: 10.1109/ROBOT.2010.5509367ISI: 000284150001098Scopus ID: 2-s2.0-77955799064ISBN: 978-1-4244-5040-4 OAI: oai:DiVA.org:hh-20743DiVA, id: diva2:586845
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 03-08, 2010, Anchorage, AK
2013-01-132013-01-122018-03-22Bibliographically approved