Active Roll Stabilization With Disturbance Feedforward Control

This article presents a method to design controller for active roll stabilization (ARS) with disturbance feedforward control. To the controller, linear 1-DOF model is adopted. With model, three feedback controllers, i.e., quadratic regulator (LQR), H∞ and sliding mode (SMC), are designed. Feedforward lateral acceleration designed discrete-time state-space equation improve control performance. estimate angle simultaneously noisy rate measurement, Kalman filter (DTKF) used. When applying DTKF state estimation, recursive least square (RLS) adopted parameters of model. As an actuator ARS, anti-roll bar (AARB) continuous damping (CDC) verify performance proposed simulation conducted on vehicle package, CarSim®. From simulation, it was verified that controllers can enhance effectiveness CDC investigated.