Research on Heavy Truck Rollover Prevention Based on LMI Robust Controller

Abstract

This paper sets up a vehicle dynamic model which is used to determine rollover risk of heavy truck under various driving conditions. Using this real-time dynamic model, it proposes a new measure of performance for vehicle rollover prevention, the Load Transfer Ratio (LTR), and design the differential braking controller based on LMI robust control to prevent rollover occur. The paper also obtains the controller which can adopt the robustness to variations in vehicle speed. The simulation results show that the LMI controller is very effective in vehicle rollover prevention control.