Rollover avoidance for steerable vehicles by invariance control

In this paper we address the problem of vehicle rollover avoidance control by applying the novel control method of Invariance Control which allows a nonlinear and non smooth controller design together with a formal proof of stability. The presented strategy leaves a maximum degree of freedom for steering to the driver. In addition a time-discrete rollover avoidance controller suitable for implementation is derived, which is both, robust and real-time computable. We validate the proposed approach by hardware-in-the-loop simulations of the nonlinear vehicle with a human driver in the loop, using a force feedback steering device.