The design of a combined control structure to prevent the rollover of heavy vehicles

In this paper a combined control structure to decrease the rollover risk of heavy vehicles is developed. In this structure active anti-roll bars are combined with an active brake control. Selecting the forward velocity and the lateral load transfer at the rear as scheduling parameters, a linear parameter varying model is constructed. In the control design the changes in the forward velocity, the performance specifications and the model uncertainties are taken into consideration. The control mechanism is demonstrated in various maneuver situations.