Hierarchical input-output decoupling control for vehicle rollover mitigation

Fengchen Wang, Yan Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


In this paper, a hierarchical input-output decoupling controller is proposed to simultaneously prevent vehicle rollover and keep the input-output stability of vehicle planar motion. A four-degree-of-freedom nonlinear vehicle dynamics model with four-wheel steering (4WS) and four in-wheel motors (4IWMs) is first developed. Then, in the high-level control design, the roll dynamics is decoupled from the planar motion using the general longitudinal and lateral forces. The decoupled roll dynamics is proved to perform as a linear system with an exponentially stable equilibrium. Moreover, the general yaw moment is also determined in the high-level control through the input-output stability analysis for tracking a yaw rate reference. In the low-level control design, the active 4WS control and direct yaw moment control are applied through a control allocation method to satisfy and distribute the virtual control obtained from the high-level control. Demonstrated by co-simulations integrating with CarSim® and MATLAB/Simulink®, the proposed hierarchical input-output decoupling control can successfully prevent the impending rollover and stabilize the vehicle planar motion.

Original languageEnglish (US)
Title of host publicationAdvances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791851890
StatePublished - 2018
EventASME 2018 Dynamic Systems and Control Conference, DSCC 2018 - Atlanta, United States
Duration: Sep 30 2018Oct 3 2018

Publication series

NameASME 2018 Dynamic Systems and Control Conference, DSCC 2018


OtherASME 2018 Dynamic Systems and Control Conference, DSCC 2018
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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