Model Predictive Control for Integrated Lateral Stability and Rollover Prevention Based on a Multi-actuator Control System

It is a challenge to realize the coordinated control of multiple actuators and ensure anti-roll stability and lateral stability in an integrated control system. To address this problem, this study presents a novel integrated multiobjective control strategy for electric vehicles using multiple actuators. The main control objectives consist of lateral stability control, handling performance, rollover prevention and trajectory tracking. First, the proposed multiobjective control strategy uses a model predictive control method to coordinate the control of multiple actuators and provide the optimal solution of the multiple objectives. The control strategy considers the interaction between different actuators and the conflict between different control objectives. Second, the uncertainty of vehicle mass is accounted for, and a dual unscented Kalman filter (UKF) observer is proposed to estimate the sideslip angle, roll angle and vehicle mass in real time. Third, variable wheelbase reference model technology is used to reduce the vehicle rollover index under high-speed turning conditions. Finally, the simulation results demonstrate that the proposed integrated multiobjective control strategy can effectively coordinate multiple actuators to achieve multiple control objectives.