H℞ gain-scheduling based control of the heavy vehicle model, a TP model transformation based control

This paper is focusing on rollover prevention to provide a heavy vehicle with the ability to resist overturning moments generated during cornering. A combined yaw-roll model including the roll dynamics of unsprung masses is studied. This model is nonlinear with respect to the velocity of the vehicle. In our model the velocity is handled as an LPV scheduling parameter. The linear parameter-varying model of the heavy vehicle is transformed into a proper polytopic form by Tensor Product model transformation. The H_infin gain-scheduling based control is immediately applied to this form for the stabilization. The effectiveness of the designed controller is demonstrated by numerical simulation.