The Design of an H∞/LPV Active Braking Control to Improve Vehicle Roll Stability

The active braking control system is an active safety system designed to prevent accidents and to stabilize dynamic manoeuvers of a vehicle by generating an artificial yaw moment using differential braking forces. In this paper, the yaw-roll model of a single unit heavy vehicle is used for studying the active braking system by using the longitudinal braking force at each wheel. The grid-based LPV approach is used to synthesize the H-infinity/LPV controller by considering the parameter dependant weighting function for the lateral acceleration. The braking monitor designs are proposed to allow the active braking system to react when the normalized load transfer at the rear axle reaches the criteria of rollover +/-1. The simulation results indicate that the active braking system satisfies the adaptation of vehicle rollover in an emergency situation, with low braking forces and improved handling performance of the vehicle. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.