TY  - JOUR
PY  - 2023//
TI  - Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle with rollover-prevention
JO  - International journal of vehicle modelling and testing
A1  - Poovendran, Karthik
A1  - Botha, Theunis R.
A1  - Els, P. Schalk
SP  - 222
EP  - 243
VL  - 17
IS  - 3/4
N2  - 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>
LA  - en
SN  - 1745-6436
UR  - http://dx.doi.org/10.1504/IJVSMT.2023.135448
ID  - ref1
ER  -