Development and experimental evaluation of a tilt stability control system for narrow commuter vehicles

Samuel Kidane, Rajesh Rajamani, Lee Alexander, Patrick J. Starr, Max Donath

Research output: Contribution to journalArticlepeer-review

21 Scopus citations


This paper concentrates on development and experimental investigation of a compound control system designed for tilt stability of a narrow commuter vehicle. The control system is a combination of three different types of control schemes: Steering Tilt Control (STC) system, Direct Tilt Control (DTC) system and Tilt Brake system. These schemes utilize different types of actuators and offer complementary advantages over different ranges of operating speeds. The design of the control system is discussed. Then the combined STC-DTC system is first validated by running standard vehicle maneuver experiments such as turns and lane changes. The performance of the Tilt Brake algorithm is then verified for different low speed maneuvers. The feasibility of a stand alone DTC system is also experimentally investigated. Finally different experimental results are presented to demonstrate the effect of desired tilt angle definition on the handling of a narrow tilting vehicle.

Original languageEnglish (US)
Article number5356230
Pages (from-to)1266-1279
Number of pages14
JournalIEEE Transactions on Control Systems Technology
Issue number6
StatePublished - Nov 1 2010


  • Narrow vehicle
  • roll control
  • roll dynamics
  • rollover prevention
  • tilt control

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