Active Tilt Control of a Narrow Tilting Vehicle via Torque Vectoring

This paper addresses the design of an active tilt control system for an Electric Narrow Titling Vehicle (NTV) equipped with two traction mo-tors. The control system implements tilt control through torque vectoring, i.e. applying a differ-ential traction torque. A control-oriented model of the vehicle is derived, analyzed and em-ployed to design a model reference tilt control-ler. The model reference paradigm enables the possibility of improving the tilting dynamics according to the user’s likings. Lane change, turns and obstacle avoidance maneuvers vali-date the concept, showing that active tilt con-trol improves the overall agility of the vehicle.