Reconfigurable control structure to prevent the rollover of heavy vehicles

In this paper a reconfigurable control structure is developed to reduce the risk of heavy vehicles rolling over. The control structure with an active anti-roll bar control and an active brake control is combined with a fault detection and identification (FDI) filter, which identifies different actuator failures. The control design uses the linear parameter varying model of the vehicle, in which the forward velocity, the lateral load transfer and the residual output of the FDI filter are selected as scheduling parameters. The design of the FDI filter is based on the H∞ filtering method. The operation of the reconfigurable control mechanism are demonstrated in various vehicle manoeuvres.