Abstract
This paper concentrates on development and experimental investigation of a compound control system designed for tilt stability of a narrow commuter vehicle. The control system is a combination of three different types of control schemes: Steering Tilt Control (STC) system, Direct Tilt Control (DTC) system and Tilt Brake system. These schemes utilize different types of actuators and offer complementary advantages over different ranges of operating speeds. The design of the control system is discussed. Then the combined STC-DTC system is first validated by running standard vehicle maneuver experiments such as turns and lane changes. The performance of the Tilt Brake algorithm is then verified for different low speed maneuvers. The feasibility of a stand alone DTC system is also experimentally investigated. Finally different experimental results are presented to demonstrate the effect of desired tilt angle definition on the handling of a narrow tilting vehicle.
| Original language | English (US) |
|---|---|
| Article number | 5356230 |
| Pages (from-to) | 1266-1279 |
| Number of pages | 14 |
| Journal | IEEE Transactions on Control Systems Technology |
| Volume | 18 |
| Issue number | 6 |
| DOIs | |
| State | Published - Nov 2010 |
Bibliographical note
Funding Information:Manuscript received February 19, 2009. Manuscript received in final form October 27, 2009. First published December 18, 2009; current version published October 22, 2010. Recommended by Associate Editor C. Bohn. This work was supported in part by the National Science Foundation under Contract CMS-0411455 and by funds from the ITS-Institute, University of Minnesota.
Keywords
- Narrow vehicle
- roll control
- roll dynamics
- rollover prevention
- tilt control