Adaptive Rollover Prevention for Automotive Vehicles with Differential Braking

In this paper we present an adaptive controller implementation based on the multiple models, switching, and tuning (MMST) paradigm [13, 14, 15] for preventing un–tripped rollover in automotive vehicles. Our approach relies on differential-braking to keep the value of the Load Transfer Ratio (LT R) below a threshold. We first employ multiple models to infer the unknown center of gravity height and the suspension parameters of the vehicle, which are subsequently used to switch to the corresponding rollover controller. The proposed multi–controller switched scheme is shown via numerical simulations to result in better performance than its fixed robust counterpart.