Anti-Roll Control for by-Wire Lift Truck

The introduction of drive-by-wire (DbW) systems in the vehicles makes it feasible the implementation of active controls to improve the driving safety. In this paper, an anti-roll control for a lift truck is developed by exploiting the capabilities offered by a DbW system. To this aim, a suitable multi-mass model of the lift truck is formulated and the rollover condition is analyzed for both pivoting and locked rear axle. From the analysis, the longitudinal speed at which rollover begins is found as a function of the cornering and loading situations. Further to this result, the anti-roll control is arranged that substantially operates by conditioning the speed command entered by the driver. Hints on the implementation of the control are dropped