Robust roll control of a vehicle: Experimental study using a hardware-in-the-loop set-up

This paper presents a simulation and experimental study of a vehicle with an electrically actuated roll control system. The controller is designed in the framework of an output feedback H_∞ control scheme based on the three-degree-of-freedom linear vehicle model. Various parameters which affect the roll dynamics are considered for robust stability and disturbance rejection. In order to investigate the feasibility of the active roll control system, its performance is evaluated by simulation in a full vehicle model with non-linear tyre characteristics. After that, an electrically actuated roll control system is devised, which improves the high frequency isolation during inoperative periods. Finally, its performance is investigated by experimental work using a hardware-in-the-loop set-up with the devised control system.