@article{ref1,
title="Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle with rollover-prevention",
journal="International journal of vehicle modelling and testing",
year="2023",
author="Poovendran, Karthik and Botha, Theunis R. and Els, P. Schalk",
volume="17",
number="3/4",
pages="222-243",
abstract="Torque vectoring is used on vehicles to improve stability and improve vehicle directional control. These systems are developed on sports vehicles and implemented on sport utility vehicles with a high centre of gravity. This may result in an increase in roll propensity of the vehicles. This paper develops and experimentally evaluates a model predictive control (MPC) based torque vectoring system with yaw rate and slip-angle control while incorporating a rollover limit based on the zero moment point rollover index. The developed MPC is compared to a baseline linear quadratic regulator (LQR) based yaw rate controller in simulation. The final controller is evaluated experimentally with a sport utility vehicle. The proposed controller was found to improve vehicle handling while reducing rollover propensity.<p /> <p>Language: en</p>",
language="en",
issn="1745-6436",
doi="10.1504/IJVSMT.2023.135448",
url="http://dx.doi.org/10.1504/IJVSMT.2023.135448"
}