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Comparative study of MPC and LQC with disturbance rejection control for heavy vehicle rollover prevention in an inclement environment

Yakub, F. and Lee, S. and Mori, Y. (2016) Comparative study of MPC and LQC with disturbance rejection control for heavy vehicle rollover prevention in an inclement environment. Journal of Mechanical Science and Technology, 30 (8). pp. 3835-3845. ISSN 1738-494X

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Abstract

This paper compares the Model predictive control (MPC) and Linear quadratic control (LQC) of heavy vehicles via active front steering for rollover prevention in inclement environments. In both control methods, a Disturbance rejection control (DRC) that negates the effects of wind and road bank acting on the vehicle is designed. Load transfer ratio (LTR) is applied to judge rollover by mitigating the absolute value of LTR as much as possible. We tested and compared two different controllers, i) MPC with DRC and ii) LQC with DRC. Two types of environmental conditions were considered, i) typhoon and ii) typhoon on a bumpy road. The simulation results demonstrate that MPC was more successfully implemented than LQC during LTR suppression. This paper also proposes an MPC for coordination of active rear steering and differential braking control maneuvers to prevent rollover in inclement environments. For a feasible comparison, the LQC controller was designed using the same approach adopted for the MPC controller. Results show the proposed coordinated control yields better performance for rollover prevention than LQC.

Item Type:Article
Uncontrolled Keywords:Automobile steering equipment, Braking, Disturbance rejection, Hurricanes, Linear control systems, Model predictive control, Predictive control systems, Roads and streets, Steering, Vehicles, Active front steering, Co-ordinated control, Differential braking, Disturbance observer, Environmental conditions, Heavy vehicle, Linear quadratic control, Rollover prevention, Controllers
Subjects:T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions:Malaysia-Japan International Institute of Technology
ID Code:71582
Deposited By: Widya Wahid
Deposited On:15 Nov 2017 12:25
Last Modified:15 Nov 2017 12:25

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