H ∞ /LPV control for an active anti-roll bar system to improve the roll stability of heavy vehicles

van Tan Vu (1, 2) , Olivier Sename (1) , Luc Dugard (1) , van Phong Dinh (3) , Thanh Phong Pham (1)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
2 UTC - University of Transport and Communications [Hanoi]
3 HUST, SME, DAM - Hanoi University of Technology, School of Mechanical Eng., Dept of Applied Mechanics

Rollover accidents of heavy vehicles are especially dangerous and cause greater damage and injury than other accidents. The relatively low roll stability of heavy vehicles is the main cause of rollover and contributes to the total number of vehicle accidents. Most modern heavy vehicles are equipped with passive anti-roll bars, in order to enhance the roll stability. However, during cornering maneuvers, the passive anti-roll bar transfers the vertical forces of one side of the suspension to the other one, creating therefore a moment against the lateral force, so there may not be sufficient stability to overcome critical situations. This paper is focussed on the H ∞ /LPV active anti-roll bar control for single unit heavy vehicles. A Linear Parameter Varying (LPV) approach is proposed here in order to schedule the controller with the vehicle forward velocity as the varying parameter. The grid-based LPV approach is used to synthesize the H ∞ /LPV controller through LPVTools TM. The simulation results, both in the frequency and time domains, show that the H ∞ /LPV active anti-roll bar can improve the roll stability of the vehicle by 30%, when compared with the passive anti-roll bars.

Mots clés: Vehicle dynamics; Heavy vehicle; Active anti-roll bar control; Linear Parameter Varying (LPV) control; H ∞ control; Roll stability

Domaines: Automatique / Robotique

van Tan Vu, Olivier Sename, Luc Dugard, van Phong Dinh, Thanh Phong Pham. H ∞ /LPV control for an active anti-roll bar system to improve the roll stability of heavy vehicles. 10th National Conference on Mechanics and the 8th National Congress of the Vietnam Association for Mechanics, Dec 2017, Hanoi, Vietnam. ⟨hal-01658083⟩