Center of Gravity Estimation and Rollover Prevention Using Multiple Models & Controllers

Abstract

In this paper, we present a methodology based on multiple models and switching for realtime estimation of center of gravity (CG) position and rollover prevention in automotive vehicles. Based on a linear vehicle model in which the unknown parameters appear nonlinearly, we propose a novel sequential identification algorithm to determine the vehicle parameters rapidly in real time. The CG height estimate is further coupled with a switching controller to prevent untripped rollover in automotive vehicles. The efficacy of the proposed switched multi model/controller estimation and control scheme is demonstrated via numerical simulations