Low-order modeling of vehicle roll dynamics

This work presents results of an ongoing investigation into models and control strategies suitable to prevent vehicle rollover due to untripped driving maneuvers. For use as a design model for controller synthesis, low-order models are sought that have sufficient complexity to characterize a vehicle's roll behavior, yet are not unnecessarily complex or nonlinear. To compare different low-order models found in literature, this work investigates the validity of several roll dynamic models by comparing model prediction to experiment in both the time and frequency domains. Discussion is also given on methods for parametric fitting of the models and areas where significant model error is observed.