Stabilizing a vehicle near rollover: An analogy to cart-pole stabilization

Author

Peters, Steven C. ; Bobrow, James E. ; Iagnemma, Karl

Author_Institution

Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA

fYear

2010

fDate

3-7 May 2010

Firstpage

5194

Lastpage

5200

Abstract

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.

Keywords

force control; friction; stability; suspensions (mechanical components); vehicle dynamics; cart-pole stabilization; energy shaping; lateral tire friction force control; multi-body vehicle model; necessary condition; partial feedback linearization; passenger vehicle; robotic manipulator equations; surface friction coefficient; suspension; tip-up problem; vehicle center of gravity; vehicle near rollover stabilization; vehicle rollover dynamics; Equations; Force control; Friction; Gravity; Linear feedback control systems; Manipulators; Robots; Shape control; Tires; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1050-4729

Print_ISBN

978-1-4244-5038-1

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2010.5509367

Filename

5509367