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 language | English (US) |
|---|---|
| Title of host publication | 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 |
| Publisher | American Society of Mechanical Engineers |
| ISBN (Electronic) | 9780791857267 |
| DOIs | |
| State | Published - Jan 1 2015 |
| Event | ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States Duration: Oct 28 2015 → Oct 30 2015 |
Publication series
| Name | ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 |
|---|---|
| Volume | 3 |
Other
| Other | ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 |
|---|---|
| Country | United States |
| City | Columbus |
| Period | 10/28/15 → 10/30/15 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Industrial and Manufacturing Engineering
- Mechanical Engineering
- Control and Systems Engineering
Cite this
}
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 proceeding › Conference contribution
TY - GEN
T1 - Vehicle rollover prevention using the zero-moment point in an LQR output regulator
AU - Stankiewicz, Paul
AU - Lleras, Nicolas Ochoa
AU - Leary, Robert
AU - Brennan, Sean N.
PY - 2015/1/1
Y1 - 2015/1/1
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84973464755&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84973464755&partnerID=8YFLogxK
U2 - 10.1115/DSCC2015-9624
DO - 10.1115/DSCC2015-9624
M3 - Conference contribution
AN - SCOPUS:84973464755
T3 - ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
BT - 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
PB - American Society of Mechanical Engineers
ER -