Differential braking-based anti-rollover control for non-tilting narrow-track vehicles

This paper presents an anti-rollover control system for a non-tilting narrow-track four-wheeled vehicle. The control system relies on two independent braking actuators on the rear wheels. The control system, designed to prevent rollover while limiting the reduction of speed, has two key elements: a steady state term that handles the static roll over limits and a dynamic term that intervenes during fast transients. The control system is tuned based on a control oriented model, identified from a multi-body simulator of the vehicle. The paper validates the proposed control system for steady state and dynamic maneuvers and compares the results against an acausal optimal benchmark. This analysis shows that the control system prevents rollover for all velocities and, in the worst case, reduces the velocity of an additional 25% with respect to the acausal optimal benchmark.