ABSTRACT
This chapter is based largely on the works of Nagy, Baranyi, and Ga´spa´r [NBG08] on the rollover prevention of heavy vehicles and their ability to resist overturning moments generated during cornering. A combined yaw-roll model including the roll dynamics of unsprung masses is first presented in this chapter. The model is nonlinear with respect to the velocity of the vehicle, which is handled as a quasi-linear parameter-varying (qLPV) scheduling parameter here. The qLPV model of the vehicle is converted into a proper polytopic form by tensor product (TP) model transformation. H∞ gain scheduling is then applied for stabilization control design. Numerical simulation is also included to demonstrate the effectiveness of the designed controller.
