Robust indirect-defined envelope control for rollover and lateral skid prevention

Martin R. Licea, Ilse Cervantes

Research output: Contribution to journalArticle

10 Scopus citations


© 2017 Elsevier Ltd This paper introduces a means to evaluate the severity of the lateral skid phenomenon based on a balance of forces applied to the vehicle. Derived from this analysis, a lateral Skid Index (SI) is proposed which, along with the well-known rollover index, is used to monitor the vehicle and to derive an indirect envelope specification. A robust control ensures the accident risk mitigation in spite of model uncertainty and perturbations from the driver. Speed and predictive dependent risk switching criteria are used to activate the control action. The proposed strategy is illustrated using Hardware-in-the-Loop experiments and its comparison with existing strategies is performed.
Original languageAmerican English
Pages (from-to)149-162
Number of pages14
JournalControl Engineering Practice
StatePublished - 1 Apr 2017


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