Nonlinear hierarchical control allocation for vehicle yaw stabilization and rollover prevention

@article{Alberding2009NonlinearHC,
  title={Nonlinear hierarchical control allocation for vehicle yaw stabilization and rollover prevention},
  author={Matthaus B. Alberding and Johannes Tjx00F8nnax0301s and Tor Arne Johansen},
  journal={2009 European Control Conference (ECC)},
  year={2009},
  pages={4229-4234}
}
In ambition to minimize potential interferences between yaw stabilization and rollover prevention of an automotive vehicle, this work presents a new approach to integrate both objectives. It introduces rollover prevention in form of a nonlinear constraint on the control allocation of a yaw stabilizing controller, yielding a hierarchical allocation problem. A suitable algorithm in form of a dynamic update law addressing this problem is derived. Its implementation is computationally efficient and… CONTINUE READING