Abstract
This paper compares the Model predictive control (MPC) and Linear quadratic control (LQC) of heavy vehicles via active front steering for rollover prevention in inclement environments. In both control methods, a Disturbance rejection control (DRC) that negates the effects of wind and road bank acting on the vehicle is designed. Load transfer ratio (LTR) is applied to judge rollover by mitigating the absolute value of LTR as much as possible. We tested and compared two different controllers, i) MPC with DRC and ii) LQC with DRC. Two types of environmental conditions were considered, i) typhoon and ii) typhoon on a bumpy road. The simulation results demonstrate that MPC was more successfully implemented than LQC during LTR suppression. This paper also proposes an MPC for coordination of active rear steering and differential braking control maneuvers to prevent rollover in inclement environments. For a feasible comparison, the LQC controller was designed using the same approach adopted for the MPC controller. Results show the proposed coordinated control yields better performance for rollover prevention than LQC.
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Fitri Yakub received his Dip.E., and B.E. degrees in Mechatronics and Electronics Eng. from the University of Technology Malaysia in 2001 and 2006, respectively. He obtained his M.Sc. in Mechatronics Eng. from the International Islamic University Malaysia in 2011. He received his Ph.D. degree in Mechatronics Eng. from Tokyo Metropolitan University under Asian Human Resource Fund by Tokyo Metropolitan Government from 2012 to 2015. He is currently with the Malaysia-Japan International Institute of Technology. He is a senior member of IEEE, and is a member of SAE, SICE and IET.
Lee Shihao received his B.S. degree in Mechanical Engineering from Shanghai University of Engineering Science in 2009. He obtained M.Sc. in Mechatronics Engineering from Tokyo Metropolitan University in 2014, where he focused on active motion control system. He is currently working with Hitachi Ltd, Ibaraki, Japan.
Yasuchika Mori received his B.S., M.S. and Ph.D. degrees in Electrical Engineering from Waseda University, Japan in 1976, 1978 and 1981, respectively. From 1981 to 1987, he worked at the R&D Center of Toshiba Corporation, Japan. He is currently the Dean of Graduate School of System Design, Tokyo Metropolitan University, Japan. He is a member of IEEE, IFAC, ISCIE, senior member of IEEJ and fellow of SICE. His field of research interest includes digital control and design, automatic and robust control, stochastic control and RFID.
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Yakub, F., Lee, S. & Mori, Y. Comparative study of MPC and LQC with disturbance rejection control for heavy vehicle rollover prevention in an inclement environment. J Mech Sci Technol 30, 3835–3845 (2016). https://doi.org/10.1007/s12206-016-0747-8
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DOI: https://doi.org/10.1007/s12206-016-0747-8