3. LQR Optimal Controller Design for Active Anti-roll Bar System

The main content of this chapter deals with the design of the optimal controller LQR for the active anti-roll bar system on single unit heavy vehicles and tractor semi-trailers with rigid and flexible frames. First, the theoretical basis of optimal control is synthesized as the basis for the design of the controllers. Then how to design the controllers for each vehicle model with the main goal of improving roll stability and considering the saturation of the actuators. The characteristics of heavy vehicles using active anti-roll bar system are evaluated in the frequency and time domains for comparative analysis. Besides, the efficiency of LQR optimal controllers is also compared with a classical control method, such as PID controllers. The research and survey results show that the ESVH actuator and heavy vehicle models have met the basic requirements in the study of controlling the active anti-roll bar system.