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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...
In this paper we extend earlier results on Invariance Control to the special class of nonlinear control input affine systems with relative degree two. A switching strategy for control parameters and an easy to calculate invariance region together form an intelligent switching Invariance Controller, achieving asymptotic stability for the controlled dynamics and positive invariance of a prescribed bounded...
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