NDLI: Design and control of an active anti-roll system for a fast rover

Content Provider	IEEE Xplore Digital Library
Author	Krid, Mohamed Benamar, Faiz
Copyright Year	2011
Description	Author affiliation: ISIR - Institut des Systèmes Intelligents et Robotiques Université Pierre et Marie Curie Paris 6, CNRS UMR 7222 4, place Jussieu - 75252 Cedex 05 - France (Krid, Mohamed; Benamar, Faiz)
Abstract	Off-road operational conditions require large sus- pension displacements and a significant clearance between the ground and the main frame, yielding to an elevated position of the vehicle mass center. Consequently, this makes the vehicle more likely to turn over when cornering fast. This paper proposes a new design, and its associated control, of an active device which improves the stability of fast rover moving up to 10 m/s. The proposed design can be equipped on any off-road chassis which has independent suspensions. We propose the using of an active anti-roll system allowing the control of the roll angle and thus improving the vehicle stability, especially when turning or when moving on slopping ground. The proposed system increases the controllability of the vehicle, by giving access to the roll angle which is usually uncontrollable. We develop a model based predictive controller for the roll dynamics, which minimizes the load transfer during cornering and the energy consumed by the actuators. The control model is based on a dynamic model of the rover and on a stability criteria defined by the lateral load transfer. Dynamic simulation, carried out for different rover trajectories with different speeds, show the benefit of the proposed active system and the validity of the control approach.
Starting Page	274
Ending Page	279
File Size	536903
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094963
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Mathematical model Vehicle dynamics Suspensions Robots Stability criteria
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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