Vehicle rollover prevention using the zero-moment point in an LQR output regulator

Paul Stankiewicz, Nicolas Ochoa Lleras, Robert Leary, Sean N. Brennan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This research investigates vehicle control techniques for rollover prevention in a collision avoidance scenario. The zeromoment point (ZMP) is used to evaluate the vehicle's current and near-future rollover propensity with the purpose of predicting and correcting impending wheel lift. Specifically, a linearquadratic (LQ) output regulator is utilized to safely navigate the vehicle through a collision avoidance maneuver, while employing a weighting scheme that explicitly accounts for rollover prevention through the ZMP. Results show that ZMP regulation is able to reduce the peak rollover threat to the vehicle. Additionally, it is shown that regulation of ZMP in the near future (previewed ZMP) does not necessarily result in a safe maneuver at the present time.

Original languageEnglish (US)
Title of host publicationMultiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791857267
DOIs
StatePublished - Jan 1 2015
EventASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States
Duration: Oct 28 2015Oct 30 2015

Publication series

NameASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Volume3

Other

OtherASME 2015 Dynamic Systems and Control Conference, DSCC 2015
CountryUnited States
CityColumbus
Period10/28/1510/30/15

Fingerprint

Collision avoidance
Wheels

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Control and Systems Engineering

Cite this

Stankiewicz, P., Lleras, N. O., Leary, R., & Brennan, S. N. (2015). Vehicle rollover prevention using the zero-moment point in an LQR output regulator. In Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 3). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2015-9624
Stankiewicz, Paul ; Lleras, Nicolas Ochoa ; Leary, Robert ; Brennan, Sean N. / Vehicle rollover prevention using the zero-moment point in an LQR output regulator. Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015).
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booktitle = "Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems",

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Stankiewicz, P, Lleras, NO, Leary, R & Brennan, SN 2015, Vehicle rollover prevention using the zero-moment point in an LQR output regulator. in Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, vol. 3, American Society of Mechanical Engineers, ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, Columbus, United States, 10/28/15. https://doi.org/10.1115/DSCC2015-9624

Vehicle rollover prevention using the zero-moment point in an LQR output regulator. / Stankiewicz, Paul; Lleras, Nicolas Ochoa; Leary, Robert; Brennan, Sean N.

Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 3).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This research investigates vehicle control techniques for rollover prevention in a collision avoidance scenario. The zeromoment point (ZMP) is used to evaluate the vehicle's current and near-future rollover propensity with the purpose of predicting and correcting impending wheel lift. Specifically, a linearquadratic (LQ) output regulator is utilized to safely navigate the vehicle through a collision avoidance maneuver, while employing a weighting scheme that explicitly accounts for rollover prevention through the ZMP. Results show that ZMP regulation is able to reduce the peak rollover threat to the vehicle. Additionally, it is shown that regulation of ZMP in the near future (previewed ZMP) does not necessarily result in a safe maneuver at the present time.

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Stankiewicz P, Lleras NO, Leary R, Brennan SN. Vehicle rollover prevention using the zero-moment point in an LQR output regulator. In Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers. 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015). https://doi.org/10.1115/DSCC2015-9624