Stabilizing a Vehicle near Rollover: An Analogy to Cart-Pole
Name
Peters-2010-Stabilizing a Vehicle near Rollover.pdf
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434.82 KB
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Adobe PDF
Checksum (MD5)
1cd80450b2080f8c7dedacc0eb41a6fe
Author(s)
Peters, Steven Conrad
Bobrow, James E.
Iagnemma, Karl
Date Issued
July 2010
Journal
2010 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers
Citation
Peters, S.C., J.E. Bobrow, and K. Iagnemma. “Stabilizing a vehicle near rollover: An analogy to cart-pole stabilization.” Robotics and Automation (ICRA), 2010 IEEE International Conference on. 2010. 5194-5200. © Copyright 2010 IEEE
Version
Final published version
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.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509367
