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Adaptive Rollover Prevention for Automotive Vehicles with Differential Braking

Abstract In this paper we present an adaptive controller implementation based on the multiple models, switching, and tuning (MMST) paradigm [Narendra and Balakrishnan, 1994, 1997] for preventing un–tripped rollover in automotive vehicles. Our approach relies on differential-braking to keep the value of the Load Transfer Ratio ( LTR ) 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 efficacy of the proposed switched multi–controller scheme is demonstrated via numerical simulations as compared to a robust controller implementation.