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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 478071, 8 pages
Research Article

Smooth Sliding Mode Control for Vehicle Rollover Prevention Using Active Antiroll Suspension

1Intelligent Transport Systems Research Center, Wuhan University of Technology, Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, and Engineering Research Center of Transportation Safety, Ministry of Education, 1040 Heping Avenue, Wuchang District, Wuhan 430063, China
2California PATH, Institute of Transportation Studies, University of California, Berkeley, 1357 S. 46th Street, Richmond Field Station, Building 452, Richmond, CA 94804-4648, USA

Received 27 October 2014; Revised 9 April 2015; Accepted 11 May 2015

Academic Editor: Tamas Kalmar-Nagy

Copyright © 2015 Duanfeng Chu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The rollover accidents induced by severe maneuvers are very dangerous and mostly happen to vehicles with elevated center of gravity, such as heavy-duty trucks and pickup trucks. Unfortunately, it is hard for drivers of those vehicles to predict and prevent the trend of the maneuver-induced (untripped) rollover ahead of time. In this study, a lateral load transfer ratio which reflects the load distribution of left and right tires is used to indicate the rollover criticality. An antiroll controller is designed with smooth sliding mode control technique for vehicles, in which an active antiroll suspension is installed. A simplified second order roll dynamic model with additive sector bounded uncertainties is used for control design, followed by robust stability analysis. Combined with the vehicle dynamics simulation package TruckSim, MATLAB/Simulink is used for simulating experiment. The results show that the applied controller can improve the roll stability under some typical steering maneuvers, such as Fishhook and J-turn. This direct antiroll control method could be more effective for untripped rollover prevention when driver deceleration or steering is too late. It could also be extended to handle tripped rollovers.