Stabilization of vehicle rollover by nonlinear model predictive control

Abstract

Vehicle rollover is controlled by a nonlinear model predictive control method, in which the C/GMRES (continuation/generalized minimal residual) method is used to solve an optimal control problem in real time. Vehicle rollover can be simply represented by a cart-pole or an inverted pendulum consisting of a pendulum attached to a cart that rolls freely on a flat surface. A necessary condition for tip-up is given that is based on the surface friction coefficient and the location of the vehicle's center of gravity. Simulation results show that the system is stabilized successfully, preventing vehicle rollover.