Rollover Prevention Control for Autonomous Vehicles with High Centers of Gravity Considering Input Saturation

A fixed-time terminal sliding mode control (FTSMC) strategy based on extended state observer for cooperative control of rollover prevention and trajectory tracking is proposed to enable the high-center-of-gravity autonomous vehicles to ensure tracking performance and prevent rollover. The FTSMC allows the errors to converge globally to a predefined arbitrarily small set centered at zero in a fixed time and then exponentially converge to zero while weakening the influence of input saturation on the controller by compensating the auxiliary system of input saturation. Simulation comparisons with existing results verify the effectiveness and advantages of the designed strategy under the MATLAB/Simulink environment.