Brake control to prevent the rollover of heavy vehicles based on a linear parameter varying model

This paper is concerned with the use of active brake systems in order to decrease the rollover risk of heavy vehicles. Since the forward velocity of the vehicle changes in time, the combined yaw-roll dynamic model has a nonlinear structure. Selecting the forward velocity and the so-called normalized lateral load transfer at the rear side as scheduling parameters, a Linear Parameter Varying (LPV) model is constructed. In the control design based on the LPV model, the changes in the forward velocity, the performance requirements and the model uncertainties are taken into consideration. The control design is demonstrated in different situations.