Vehicle dynamics control and controller allocation for rollover prevention

Vehicle rollover accidents are a particularly dangerous form of road accident. Commercial vehicles are especially prone to rollover accidents due to their high centres of gravity. A nonlinear control strategy is presented which guarantees asymptotic tracking of a yaw rate reference while bounding the roll angle, thus preventing rollover. A new computationally-efficient control allocation strategy is used to map controller commands to braking forces, taking into account actuator constraints. Simulations show that the strategy is capable of preventing rollover of a commercial van during various standard test maneuvers