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Development of fuzzy anti-roll bar controller for improving vehicle stability

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November 2015, Volume 17, Issue 7
Pages (3392-4056), NoP (1764-1818)

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ISSN 1392-8716

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JVE RS Journal of
Vibroengineering
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Editor in chief
K. Ragulskis Lithuanian Academy of Sciences, (Lithuania) k.ragulskis@jve.lt,
ragulskis.jve@gmail.com

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Editorial Board
V. Babitsky Loughborough University, (UK) v.i.babitsky@lboro.ac.uk
R. Bansevičius Kaunas University of Technology, (Lithuania) ramutis.bansevicius@ktu.lt

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M. Bayat Tarbiat Modares University, (Iran) mbayat14@yahoo.com
I. Blekhman Mekhanobr – Tekhnika Corporation, (Russia) iliya.i.blekhman@gmail.com
K. Bousson University of Beira Interior, (Portugal) bousson@ubi.pt
A. Bubulis Kaunas University of Technology, (Lithuania) algimantas.bubulis@ktu.lt
R. Burdzik Silesian University of Technology, (Poland) rafal.burdzik@polsl.pl

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M. S. Cao Hohai University, (China) cmszhy@hhu.edu.cn
Lu Chen Beihang University, (China) luchen@buaa.edu.cn
F. Chernousko Institute for Problems in Mechanics, (Russia) chern@ipmnet.ru
Z. Dabrowski Warsaw University of Technology, (Poland) zdabrow@simr.pw.edu.pl

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R. Daukševičius Kaunas University of Technology, (Lithuania) rolanasd@centras.lt
Y. Davydov Institute of Machine Building Mechanics, (Russia) 1institut@bk.ru
J. Duhovnik University of Ljubljana, (Slovenia) joze.duhovnik@lecad.uni-lj.si
S. Ersoy Marmara University, (Turkey) sersoy@marmara.edu.tr
A. Fedaravičius Kaunas University of Technology, (Lithuania) algimantas.fedaravicius@ktu.lt
R. Ganiev

W. H. Hsieh
V. Kaminskas
National Formosa University, (Taiwan)
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Blagonravov Mechanical Engineering Research
Institute, (Russia)

Vytautas Magnus University, (Lithuania)

rganiev@nwmtc.ac.ru

allen@nfu.edu.tw
v.kaminskas@if.vdu.lt
V. Klyuev Association Spektr – Group, (Russia) v.klyuev@spektr.ru
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G. Kulvietis Vilnius Gediminas Technical University, (Lithuania) genadijus.kulvietis@vgtu.lt
V. Lyalin Izhevsk State Technical University, (Russia) velyalin@mail.ru
R. Maskeliūnas Vilnius Gediminas Technical University, (Lithuania) rimas.maskeliunas@vgtu.lt
L. E. Muñoz Universidad de los Andes, (Colombia) lui-muno@uniandes.edu.co
V. Ostaševičius Kaunas University of Technology, (Lithuania) vytautas.ostasevicius@ktu.lt
A. Palevičius Kaunas University of Technology, (Lithuania) arvydas.palevicius@ktu.lt
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G. Panovko Blagonravov Mechanical Engineering Research gpanovko@yandex.ru

Institute, (Russia)
L. Qiu Nanjing University of Aeronautics and Astronautics, lei.qiu@nuaa.edu.cn
(China)
M. Ragulskis Kaunas University of Technology, (Lithuania) minvydas.ragulskis@ktu.lt
S. Rakheja Concordia University, (Canada) subhash.rakheja@concordia.ca
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V. Royzman Khmelnitskiy National University, (Ukraine) iftomm@ukr.net

M. A. F. Sanjuan University Rey Juan Carlos, (Spain) miguel.sanjuan@urjc.es
A. El Sinawi The Petroleum Institute, (United Arab Emirates) aelsinawi@pi.ac.ae
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G. Song University of Houston, (USA) gsong@uh.edu

J. Škliba Technical University of Liberec, (Czech Republic) jan.skliba@tul.cz
S. Toyama Tokyo A&T University, (Japan) toyama@cc.tuat.ac.jp
K. Uchino The Pennsylvania State University, (USA) kenjiuchino@psu.edu
A. Vakhguelt Nazarbayev University, (Kazakhstan) anatoli.vakhguelt@nu.edu.kz
P. Vasiljev Vilnius Pedagogical University, (Lithuania) vasiljev@vpu.lt
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V. Veikutis Lithuanian University of Health Sciences, (Lithuania) vincentas.veikutis@lsmuni.lt

J. Viba Riga Technical University, (Latvia) janis.viba@rtu.lv
V. Volkovas Kaunas University of Technology, (Lithuania) vitalijus.volkovas@ktu.lt
J. Wallaschek Leibniz University Hannover, (Germany) wallaschek@ids.uni-hannover.de
D. Wang City University of Hong Kong, (China) dongwang4-c@my.cityu.edu.hk
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Mao Yuxin Zhejiang Gongshang University, (China) maoyuxin@zjgsu.edu.cn

M. Zakrzhevsky Riga Technical University, (Latvia) mzakr@latnet.lv
JVE Journal of Vibroengineering
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[2] Juška V., Svilainis L., Dumbrava V. Analysis of piezomotor driver for laser beam deflection. Journal
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 JVE Journal of

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Vibroengineering

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NOVEMBER 2015. VOLUME 17, ISSUE 7, PAGES (3392-4056), NUMBERS OF PUBLICATIONS FROM 1764 TO 1818. ISSN 1392-8716

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Contents

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MECHANICAL VIBRATIONS AND APPLICATIONS

1764. VIBRATION ANALYSIS OF MARINE PROPULSION SHAFTING BY THE COUPLED 3392

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FINITE ELEMENT METHOD
QIANWEN HUANG, CONG ZHANG, YONG JIN, CHENGQING YUAN, XINPING YAN
1765. EXPERIMENT AND SIMULATION RESEARCH ON SOUND INSULATION 3404
PERFORMANCE OF MAGNESIUM ALLOY DASH PANEL
JIN-SHUAN PENG, YANG ZHAO, LIZONG LIN, BIN GAO
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1766. COUPLING VIBRATION CHARACTERISTICS OF A TRANSLATING FLEXIBLE 3415

ROBOT MANIPULATOR WITH HARMONIC DRIVING MOTIONS
YUFEI LIU, WEI LI, YUQIAO WANG, XUEFENG YANG, EN LU
1767. MODAL AND STRENGTH ANALYSIS OF COAL MINE MOBILE REFUGE CHAMBER 3428
ZERONG GUO, TONG ZHANG, JIANHUA HUANG
1768. RESEARCH ON THE FE AND SEMI-ANALYTICAL SOLUTION WITH THE 3438
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BLADE-CASING RUB-IMPACT DYNAMICAL SYSTEM

CHAOFENG LI, HOUXIN SHE, QIANSHENG TANG, BANGCHUN WEN
1769. ON THE ANALYSIS OF A PIECEWISE NONLINEAR-LINEAR VIBRATION ISOLATOR 3453
WITH HIGH-STATIC-LOW-DYNAMIC-STIFFNESS UNDER BASE EXCITATION
CHUN CHENG, SHUNMING LI, YONG WANG, XINGXING JIANG
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1770. RESEARCH ON BEARING RADIATION NOISE AND OPTIMIZATION DESIGN BASED 3471
ON COUPLED VIBRO-ACOUSTIC METHOD
FEI-YAN LOU, DONG-CE SUN, YI JIANG, JUN-LIANG LIU
1771. NUMERICAL ANALYSIS OF DYNAMIC CHARACTERISTICS IN THE ULTRA-HIGH 3483
SPEED GRINDING SPINDLE SYSTEM
TIANBIAO YU, XUEZHI WANG, WANSHAN WANG
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1772. CONSTRUCTIVE AND PROCESSING METHODS OF REDUCING VIBRATION LEVEL 3495

OF THE METALWORKING MACHINERY ELEMENTS
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ALEXEY GAVRILIN, BORIS MOYZES, OLGA ZHARKEVICH

© JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716
 CONTENTS

FAULT DIAGNOSIS BASED ON VIBRATION SIGNAL ANALYSIS

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1773. A COMPARISON OF TWO SYMPTOM SELECTION METHODS IN VIBRATION-BASED 3505
TURBOMACHINERY DIAGNOSTICS
TOMASZ GAŁKA
1774. A FEATURE EXTRACTION METHOD BASED ON LMD AND MSE AND ITS 3515

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APPLICATION FOR FAULT DIAGNOSIS OF RECIPROCATING COMPRESSOR
HAI-YANG ZHAO, JIN-DONG WANG, JUN-JIE XING, YI-QI GAO
1775. IMPROVED D-S EVIDENCE THEORY FOR PIPELINE DAMAGE IDENTIFICATION 3527
JIA-CHENG ZHANG, SHAO-PING ZHOU, YONG LI, YONG-SHENG SU,
PU-GEN ZHANG
1776. A HYBRID TRAINING METHOD FOR ANNS AND ITS APPLICATION IN MULTI 3538
FAULTS DIAGNOSIS OF ROLLING BEARING

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JUN YAN, XUNLIN JIANG, HAISONG CHENG, CONGCONG GONG, ZHENGLIAN SU
1777. ASYNCHRONOUS VIBRATION RESPONSE CHARACTERISTICS OF CONNECTORS 3551
WITH LOOSENESS FAULT AND ITS VERIFICATION
HAIFEI WANG, GUO CHEN, PEIPEI SONG
1778.

1779.
LIU LIU, YUNJU YAN ON
SINGULAR SPECTRUM ANALYSIS AND ITS APPLICATION IN LAMB WAVE-BASED
DAMAGE DETECTION

LOAD SHARING CHARACTERISTIC ANALYSIS OF SHORT DRIVING SYSTEM IN

THE LONG-WALL SHEARER
3561

3572

RUIZHI SHU, ZHENJUN LIU, CHANGZHAO LIU, XIAOYAN LIN, DATONG QIN
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1780. MULTISCALE ANALYSIS OF VIBRATION SIGNALS IN ENGINE VALVE SYSTEM 3586
ANDRZEJ PUCHALSKI
1781. NUMERICAL ANALYSIS ON MAGNETIC LEAKAGE FIELD OF PIPELINE DEFECT 3594
TINGXIA MA, HAILAN WANG, YU TANG, HONGBING CHEN
1782. GROUND MOTION OF A SEMI-CYLINDRICAL HILL WITH A SUBSURFACE LINEAR 3608
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CRACK UNDER SH WAVE

LV XIAOTANG
1783. FATIGUE BEHAVIOR AND INFLUENCE FACTOR ANALYSIS OF THE STRUCTURE 3620
SUBJECT TO MULTIAXIAL RANDOM LOADING
GUANGZONG HE, HUAIHAI CHEN, XUDONG HE
1784. FUZZY LOGIC BASED CLASSIFICATION OF FAULTS IN MECHANICAL 3635
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DIFFERENTIAL
MOHAMMAD REZA ASADI ASAD ABAD, ALI MOHAMMAD BORGHEI,
HOJAT AHMADI, SAEID MINAEI, BABAK BEHESHTI
1785. A VIBRATION FATIGUE ANALYSIS MODEL CONSIDERING INTERACTION EFFECTS 3650
SHAN JIANG, WEI ZHANG, ZILI WANG
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VIBRATION GENERATION AND CONTROL

1786. SYNTHESIS OF RUNNING RMS-INDUCED NON-GAUSSIAN RANDOM VIBRATION 3662

BASED ON WEIBULL DISTRIBUTION
FEI XU, CHUANRI LI, TONGMIN JIANG, KJELL AHLIN
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1787. ADAPTIVE SUPERVISORY SWITCHING CONTROL SYSTEM DESIGN FOR ACTIVE 3675
NOISE SUPPRESSION OF DUCT-LIKE APPLICATION
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ZHOU CHENGHU, LV KUANZHOU, HUANG QUANZHEN, LI HENGYU

1788. MULTI-MODE CONTROL BASED ON HSIC FOR DOUBLE PENDULUM ROBOT 3683
YUANHONG DAN, PENG XU, ZHI TAN, ZUSHU LI

© JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716
 CONTENTS

1789. WIND-INDUCED VIBRATION CONTROL OF POWER TRANSMISSION TOWER USING 3693

POUNDING TUNED MASS DAMPER

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LI TIAN, XIA GAI
1790. INVESTIGATION OF VIBRATORY DRILLING MODEL WITH ADAPTIVE CONTROL. 3702
PART 1: CONTROL OF CUTTING CONTINUITY INDEX
ALEXANDER M. GOUSKOV, SERGEY A. VORONOV, ILYA I. IVANOV,
SERGEY M. NIKOLAEV, DARIA V. BARYSHEVA

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SEISMIC ENGINEERING

1791. RESEARCH ON DOUBLE-YIELD SURFACE MODEL WITH CONSIDERING TIME 3715

EFFECT AND ITS APPLICATION IN VIBRATION ENGINEERING
YAN-YAN CAI, JIN YU, BING-XIONG TU

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MODAL ANALYSIS

1792. ON THE CONDITIONS FOR SYNCHRONOUS HARMONIC FREE VIBRATIONS 3727

CÉSAR A. MORALES
1793. ON OPTIMIZATION OF THE OBSERVATION STATION BASED ON THE EFFECTIVE 3735

1794.
INDEPENDENCE METHOD
GUANBANG DAI, GUOYI JI ON
EFFECTS ON NATURAL FREQUENCY OF A PLATE DUE TO DISTRIBUTED AND
POSITIONAL CONCENTRATED MASS
3751

NAZMUL HOSSAIN, MD. SHAHRIAR ISLAM, KH. NAZMUL AHSHAN,

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MD. ZAHID HOSSAIN
1795. EXPERIMENTAL STUDY ON NATURAL VIBRATION FREQUENCY IDENTIFICATION 3760
OF HYDRAULIC CONCRETE STRUCTURE USING CONCRETE PIEZOCERAMIC
SMART MODULE
HUAIZHI SU, NAN ZHANG, MENG YANG, ZHIPING WEN, WEI XIE
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1796. FINITE ELEMENT MODELING OF A WIND TURBINE BLADE 3774

MOHAMMAD SHEIBANI, ALI AKBAR AKBARI
1797. NATURAL FREQUENCY ANALYSIS OF BEAM WITH AN AXIALLY PROGRESSED 3792
EDGE CRACK
KEMAL MAZANOGLU
1798. NON-VISUAL VIBRATION SHAPE RECONSTRUCTION FOR SMART PLATE 3803
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STRUCTURE WITH BONDED FBG SENSORS

HESHENG ZHANG, XIAOJIN ZHU, ZHIYUAN GAO, LU GENG, FAN JIANG
1799. DESIGN AND ANALYSIS OF MULTI-MEGAWATT WIND TURBINES BLADES 3822
QIONG WANG, KEXIANG WEI, XUEJUN LI, XIAOFENG GENG

VIBRATION IN TRANSPORTATION ENGINEERING

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1800. STUDY OF THE INFLUENCE OF SLEEPERS’ MATERIAL ON TRACK DYNAMICS 3832

THROUGH NUMERICAL SIMULATIONS
LAURA MONTALBAN, CLARA ZAMORANO, SILVIA MORALES, JULIA IRENE REAL
1801. OBSERVER DESIGN BASED ON NONLINEAR SUSPENSION MODEL WITH 3844
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UNSCENTED KALMAN FILTER

YING FAN, HONGBIN REN, SIZHONG CHEN, YUZHUANG ZHAO
1802. DEVELOPMENT OF FUZZY ANTI-ROLL BAR CONTROLLER FOR IMPROVING 3856
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VEHICLE STABILITY
JAVAD MARZBANRAD, GOLAMHOSSEIN SOLEIMANI, MEHDI MAHMOODI-K,
AMIR H. RABIEE

© JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716
 CONTENTS

1803. PAVEMENT ROUGHNESS IDENTIFICATION RESEARCH IN TIME DOMAIN BASED 3865

ON NEURAL NETWORK

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WANG WEI, BEI SHAOYI, ZHANG LANCHUN, WANG YONGZHI, YANG HUI
1804. BACK-STEPPING VARIABLE STRUCTURE CONTROLLER DESIGN FOR OFF-ROAD 3876
INTELLIGENT VEHICLE
LINHUI LI, JING LIAN, HAIYANG HUANG, BAOZHEN YAO, LIE GUO
1805. INVESTIGATION ON DYNAMICS OF A THREE-DIRECTIONAL COUPLED 3887

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VEHICLE-ROAD SYSTEM
SHAOHUA LI, SHAOPU YANG

FLOW INDUCED STRUCTURAL VIBRATIONS

1806. DYNAMIC CHARACTERISTICS OF CENTRIFUGAL PUMP INDUCED BY FLUID AND 3909

MOTOR EXCITATION FORCES

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GUOFANG NAN, ERYUN CHEN, AILING YANG

OSCILLATIONS IN BIOMEDICAL ENGINEERING

1807. IMPACT OF VIBRATIONS TO THE HUMAN FATIGUE AND MANUAL ASSEMBLY 3919

1808.
PERFORMANCE
JUSTINAS TILINDIS, VYTAUTAS KLEIZA ON
PITCHING STABILITY ANALYSIS OF WEAPON BASED ON THE EQUIVALENT
PARAMETERS OF HUMAN JOINTS
3928

SHUN YAN, YUN-FENG HE, CHANG-MING WANG

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1809. ANALYSIS OF THE IMPACT OF SELECTED ANTHROPOMETRIC PARAMETERS ON 3936
THE PROPAGATION OF VERTICAL VIBRATION IN THE BODY OF A SEATED
PERSON (DRIVER)
ANDRZEJ ZUSKA, TOMASZ LECH STAŃCZYK
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CHAOS, NONLINEAR DYNAMICS AND APPLICATIONS

1810. MULTIPLE LIMIT CYCLES OF A DUAL-CYLINDER DUAL-PAD BRAKE SYSTEM 3949

CAUSED BY DRY FRICTION
DAOGAO WEI, LILI LI, WEI SHI, TIANPEI LI, JIYU ZHANG
1811. STUDY OF NONLINEAR DYNAMICS OF A PARTICLE ON A ROTATING PARABOLA 3967
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BY USING EFFICIENT MATHEMATICAL TECHNIQUES

A. NIKKAR, H. JODEIRI, SH. AHARI ABESH AHMAD
1812. NONLINEAR CHARACTERISTIC ANALYSIS OF HIGH-SPEED SPATIAL PARALLEL 3974
MECHANISM
XIULONG CHEN, YUNFENG LI, YU DENG, WENBIN LI, XIAOXIA LIANG,
QING WANG
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1813. TWO-WAY COLLINEAR INTERACTION OF LONGITUDINAL WAVES IN AN ELASTIC 3988

MEDIUM WITH QUADRATIC NONLINEARITY
ZHENGHAO SUN, FUCAI LI, HONGGUANG LI

OSCILLATIONS IN ELECTRICAL ENGINEERING

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1814. OPTIMIZED DESIGN TO IMPROVE THE FUNCTION OF A MAGNETIC PULSE 3998

FORMING DEVICE
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MAN GI LEE, SEUNG HWAN LEE, BYUNG HO PARK, JIN HO KIM

1815. ELECTROMECHANICAL COUPLED NONLINEARITY AND CRITICAL VELOCITY 4011
FOR ELECTROMAGNETIC RAILGUN
LIZHONG XU, LINGCHAO PENG

© JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716
 CONTENTS

ACOUSTICS, NOISE CONTROL AND ENGINEERING APPLICATIONS

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1816. EXAMINATION OF THE VIBROACOUSTIC CHARACTERISTICS OF 6 KW PROTON 4025
EXCHANGE MEMBRANE FUEL CELL
GRZEGORZ GRZECZKA, KAROL LISTEWNIK, MACIEJ KŁACZYŃSKI,
WITOLD CIOCH
1817. RESEARCH OF SOUND ABSORPTION CHARACTERISTICS FOR THE PERIODICALLY 4035

CO
POROUS STRUCTURE AND ITS APPLICATION IN AUTOMOBILE
XIAN-LIN REN
1818. EVALUATION OF ARBITRARY WAVEFORM ACOUSTIC SIGNAL GENERATION 4047
TECHNIQUES IN DISPERSIVE WAVEGUIDES
V. AUGUTIS, D. GAILIUS, E. VASTAKAS, P. KUZAS

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© JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716
1802. Development of fuzzy anti-roll bar controller for
improving vehicle stability

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Javad Marzbanrad1, Golamhossein Soleimani2, Mehdi Mahmoodi-k3, Amir H. Rabiee4
1School of Automotive Engineering, Iran University of Science and Technology, Tehran, Iran
2Department of Industrial Management, Allameh Tabatba’i University, Tehran, Iran
3Young Researches and Elite Club, Tabriz Branch, Islamic Azad University, Tabriz, Iran

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4Department of Mechanical Engineering, Iran University of Science and Technology,

Narmak, Tehran, Iran, 1684613114

3Corresponding author

E-mail: 1marzban@iust.ac.ir, 2g.soleimani@atu.ac.ir, 3m_mec_tab@yahoo.com,

4ah_rabiei@mecheng.iust.ac.ir

(Received 15 May 2015; received in revised form 23 July 2015; accepted 6 August 2015)

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Abstract. The main objective of this paper is to develop active control mechanism based on fuzzy
logic controller (FLC) for improving vehicle path following, roll and handling performances
simultaneously. At the first stage, 3DOF vehicle model which includes yaw rate, lateral velocity
(lateral dynamic) and roll angle (roll dynamic) are developed. The controller produces optimal

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moment to increase stability and roll margin of vehicle by receiving the steering angle as an input
and vehicle variables as a feedback signal. The effectiveness of proposed controller and vehicle
model are evaluated during fishhook and single lane-change maneuvers. Simulation results
demonstrate that FLC by reducing roll angle, lateral velocity and acceleration, vehicle roll
resistance and handling properties are improved. Finally the sensitivity and robustness analysis of
developed controller for varying longitudinal speeds are investigated.
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Keywords: vehicle dynamic, rollover, handling, stability, active safety controller.

1. Introduction

There are two perspectives for handling ratings. One perspective is how safe the vehicle is to
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drive. The other is how well the vehicle gives an enthusiast driver a pleasurable sense of control.
Suspension system and its components (stiffness and damping rates) have significant role in
vehicle motion and handling properties. Coil springs which usually are used in passenger vehicle
suspension system are less stiff with better ride comfort compared to leaf springs. Therefore, the
roll stiffness of the vehicle with coil springs is usually less than in vehicles with leaf springs. In
order to improve the roll characteristic of coil springs an antiroll bar mechanism must be used
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(Fig. 1).
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Fig. 1. Anti-roll bar system in passenger car suspension [1]

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Various mechanisms such as optimal geometry passive [2], semi active [3], active [4]
suspensions and anti-roll bar [5] systems have been studied to compromise the trade-offs between
ride and handling. Due to active suspension systems cost, energy usage and packaging difficulties,
they are used on a limited basis for Luxury and special vehicles. Whilst, anti-roll bar recently has
3856 © JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716
 1802. DEVELOPMENT OF FUZZY ANTI-ROLL BAR CONTROLLER FOR IMPROVING VEHICLE STABILITY.
JAVAD MARZBANRAD, GOLAMHOSSEIN SOLEIMANI, MEHDI MAHMOODI-K, AMIR H. RABIEE

become practical solution to improve vehicle handling, roll-stability and ride comfort. Also, active
control systems such as DYC, AFS, and VDC are developed in previous researches to improve

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vehicle stability and roll resistance [6-10]. Papelis et al. [7] utilized Electronic stability control
(ESC) to assist driver in maintain vehicle control and prevention of vehicle loss of control. Their
results showed that using ESC 25 % reduces loss of control in severe maneuvers.
Previous researches studied the mechanism and systems for prevention of rollover while
ensuring not to satisfy handling and ride properties. In [8] a novel FLC is proposed to improve

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vehicle safety by regulating dampers in semi active suspension system. The controller stabilize
the sprung mass which improves vehicle handling and reduces possibility of overturning. Singh
and Darus [9] presented an active roll control system using an active suspension based on fuzzy
logic control for enhancement of vehicle roll dynamics. Mashadi et al. [10] developed a DYC
system based on LQR, for vehicle path following with considering the driver performance. They
used 2 DOF vehicle model for developing of LQR controller. Their results showed that LQR

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controller could be properly applied for vehicle path following and improving handling
characteristic. They tried to maintain the lateral acceleration and velocity under 0.8 m/s2 and
40 m/s respectively.
In previous studies various control strategies are utilized to control vehicle path control,

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improving ride, handling and rolling resistance systems [11-17]. Wu et al. [11] developed a robust
chassis controller to improve vehicle handling performance and lane keep ability by utilizing
controller. Wang et al. [14] used fuzzy inference engines to design steering controller and
determine the given driving speed for autonomous vehicle. Mashadi et al. [10, 12] proposed an
optimal LQR and PID controllers for vehicle path following based on intelligent optimization
method. They utilized genetic algorithm procedure to adapt a set of optimized controller
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parameters suitable for various driving styles, road conditions and the initial errors of vehicle
position and orientation.
A unified chassis control proposed in [18] to prevent vehicle rollover, and to improve vehicle
maneuverability and its lateral stability by integrating electronic stability control (ESC) and active
front steering (AFS). The rollover prevention was achieved through speed control, and the vehicle
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stability is improved via yaw rate control. Cao et al. [19] proposed the integrated controller of the
yaw and rollover stability controls using nonlinear prediction model. The linearization tire model
was built up as the rollover predictive model and its accuracy obtained by real vehicle tests. These
researches were focused on improving handling, ride or rollover resistance separately by active
control systems. Whilst in this paper a tradeoff between handling properties and rollover resistance
compromised through anti roll bar moment system which is controlled based on FLC. The
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proposed control structures are typically based on combination of the steer angle, roll angle,
longitudinal speed, yaw and roll moments, lateral acceleration and velocity, which controls the
yaw rate and the roll motion simultaneously.

2. Vehicle model
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In order to investigate the roll over resistance and handling behavior of vehicle simultaneously,
integrated lateral and roll dynamics should be considered. So, in this paper two vehicle model is
utilized. At the first, a 3 DOF roll model for controller designing is developed which its degrees
includes: lateral velocity, yaw and roll. In addition to realize the simulating of the vehicle model,
a comprehensive vehicle model (an 8 DOF model) in [10] is utilized to simulation.
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2.1. An 8 DOF model

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In this article, to simulate the control of a vehicle during roll tests, as demonstrated in Fig. 2,
a non-linear 8-DOF is used. The DOFs associated with this model are the longitudinal velocity ,
the lateral velocity , the yaw rate , the roll Φ, and four wheel rotational speeds, , ,
and :

© JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716 3857
 1802. DEVELOPMENT OF FUZZY ANTI-ROLL BAR CONTROLLER FOR IMPROVING VEHICLE STABILITY.
JAVAD MARZBANRAD, GOLAMHOSSEIN SOLEIMANI, MEHDI MAHMOODI-K, AMIR H. RABIEE

( − )= , (1)

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( + )+ ℎ Φ= , (2)

= + + + , (3)

CO
= + + + , (4)

− Φ= , (5)

Φ− = , (6)

= ( + )− ( + )

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(7)
+ [( + )−( + )] + ,
2
=− ℎ( + )+( ℎ− )Φ − Φ. (8)

ON
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Fig. 2. Vehicle 8 DOF including roll, yaw and longitudinal model

2.2. Vehicle roll model

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In order to evaluate the roll behavior of vehicle during sever maneuvers, the main parameters
which effects on vehicle roll stability should be considered such as: variation of center of gravity,
vehicle track, tire and suspension properties. In this paper as shown in Fig. 3, a 3 DOF vehicle
model which combines 2 DOD bicycle model ( and ) with 1 DOF roll model (Φ) is developed.
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a) 2DOF bicycle model b) 1DOF roll model

Fig. 3. Vehicle 3 DOF model (yaw and roll)
3858 © JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716
 1802. DEVELOPMENT OF FUZZY ANTI-ROLL BAR CONTROLLER FOR IMPROVING VEHICLE STABILITY.
JAVAD MARZBANRAD, GOLAMHOSSEIN SOLEIMANI, MEHDI MAHMOODI-K, AMIR H. RABIEE

By imposing Newton’s second law of motion along the -axis and the torque balance around
the -axis and -axis, the equation of motion for lateral, yaw and roll dynamic can be expressed

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respectively as:

− ℎ Φ= cos + , (9)
= cos − + , (10)

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Φ− ℎ = ℎ sinΦ − Φ− Φ+ , (11)

where , and Φ lateral acceleration, yaw rate and roll angle respectively. and are
sprung and roll mass respectively, and ℎ is the distance between central of gravity to roll center
of sprung mass. Also, and are lateral forces of front and rear tires respectively. and
are Roll stiffness and Roll damping coefficients of suspension system which are calculated

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through damping ( ), springs ( ) and anti-roll bar ( ) stiffness of rear and front axels:

= + | + + | , (12)
2 2

=
2
+

2.3. Load transfer

2
.
ON (13)
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If the vehicle body rolls, the left and right wheels at both front and rear axles will increase in
load at one side and decrease at the other side. This is called the load transfer due to roll. Defining
the load transfer for the axle load ∆ ; the roll moment around the roll center at the wheels in the
plane perpendicular to the vehicle longitudinal direction has to be in equilibrium, as shown in
Fig. 3, the following equations are derived:
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ℎ
Δ = + ℎ . (14)
+ − ℎ

These equations give the load transfer between the left and right wheels due to a constant
lateral acceleration. The equations show that a higher vehicle center of gravity distance from the
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roll axis, hs, results in a larger load transfer at the front and rear wheels. Furthermore, a load
transfer at the front and rear wheels is basically proportional to the front and rear roll stiffness
ratios to the total roll stiffness, respectively.
The original rollover resistance ratings were determined solely from the vehicle’s static
stability factor. The SSF of a vehicle is a calculation of rollover resistance, based on its most
important geometric properties. As shown in Fig. 3, vehicle’s SSF is calculated taking the
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moments about the center of contact for the outside tires yields:

ℎ− Φℎ + − = 0, (15)
2
/2 + Φℎ
= , (16)
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ℎ
/2
= . (17)
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The lower the SSF number, the more likely the vehicle is to roll over in a tripped single-vehicle
crash. A higher SSF value equates to a more stable, less top-heavy vehicle.

© JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716 3859
 1802. DEVELOPMENT OF FUZZY ANTI-ROLL BAR CONTROLLER FOR IMPROVING VEHICLE STABILITY.
JAVAD MARZBANRAD, GOLAMHOSSEIN SOLEIMANI, MEHDI MAHMOODI-K, AMIR H. RABIEE

3. Controller design

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In this study, two types of controller are developed, one based on FLC for nonlinear vehicle
model and the other is based on linear quadratic regulation for linear vehicle roll model. In both
cases front steering angle and momentum deduced by controller for prevention of increasing roll
angle are defined as system inputs. State variables include lateral velocity, yaw rate, roll angle and
roll rate as:

CO
=[ Φ Φ] . (18)

By considering 3 DoF vehicle model in previous section, state space for designing controller
described as:

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2 + 2 −
− − 0 0
2 − 2 +
= − 0 0 ,

−2

2
ℎ

2
0
+

2 ℎ
2 ℎ
0
−
ON ℎ
0
−
−
1 (19)

= 0 .
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Since the main objective of this study is to reduce roll angle or increase rollover threshold
(stability), so controller should regulates the lateral load transfer (LLT) in its optimal condition.
LLT criteria as a function of lateral acceleration, roll and roll rate is obtained as:
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− 2
= = ℎ + + . (20)
+

When one of the tires losses its contact with road and applied force on tire eliminates, rollover
occurs. In this condition, LLT becomes 1 and rollover happens. In other words, when the forces
at the both sides are equal, LLT becomes zero and vehicle is in most stable condition.
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3.1. Fuzzy controller development

Owing to its simple practical nature, Fuzzy type controllers shown in Fig. 4 are developed for
roll resistance of the vehicle model. This type of controllers has the advantages of using expert’s
attitude and experimental results. The anti-roll moment control law for the desired state space
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vector =[ Φ ] is achieved by this control system.

T
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Fig. 4. The FLC structure

In this paper, control strategy is developed by FLC, applying Mamdani implication (Fig. 5).
The main objective of this controller is to maintain vehicle stability and prevention of vehicle
3860 © JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716
 1802. DEVELOPMENT OF FUZZY ANTI-ROLL BAR CONTROLLER FOR IMPROVING VEHICLE STABILITY.
JAVAD MARZBANRAD, GOLAMHOSSEIN SOLEIMANI, MEHDI MAHMOODI-K, AMIR H. RABIEE

rollover during maneuvers.

Three steps are taken to create a fuzzy controlled system [20]:

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– Fuzzification: Using membership functions to graphically describe a situation (Fuzzification
is the process of changing a real scalar value into a fuzzy value).
– Rule evaluation: Application of fuzzy rules (The rules are composed of a set of if–then rules,
from which an inference mechanism is formed).
– Defuzzification: Obtaining the crisp or actual results (The centroid defuzzification technique

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is utilized in this paper to defuzzify set to get a numerical output as the control signal).
In this paper FLC applying Mamadani implication and based on state variables and control
parameters, three condition are considered for fuzzification which demonstrate the status of
control strategy parameters; low, normal, and high. The rules are composed of a set of if-then
rules, from which an inference mechanism is formed. In other words rules describe the relation
between state variable and control parameters.

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As shown in Fig. 4 a FLC is developed to design a control strategy, which has two state
variables as inputs (roll rate and lateral acceleration) and one control parameter as an output
(Anti-roll moment). The antiroll-bar controller is modeled in the FLC and their membership
functions of the inputs and outputs are shown in the figure 5.

ON
The designed FLC has 2 inputs, 3 MFs for each input and 9 fuzzy rules for each input.
Requested anti roll moment is normalized so that the number 0.5 allocated to optimum moment.
Therefore, the center of MFs are located in 0.5. Also, as shown in Fig. 5, rules are set to respect
the rules overlap. The surface of them are shown in the figure 6. Rules based on vehicle roll model
are regulated whenever, lateral acceleration and roll-rate of vehicle is increased, controller
commands anti-roll bar system to produce more moment to improve vehicle handling properties
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and prevention of rollover.
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Fig. 5. Membership functions of the two modes Fig. 6. The two modes rules surface
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in the FLC

4. Simulation results

To evaluate the vehicle roll and handling dynamic behavior and the effectiveness of anti-roll
bar over Fishhook maneuver, numerical evaluation are conducted using MATLAB/SIMULINK
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environment. This simulation code is validated and used extensively of [10]. Steering angle as an
input signal to vehicle closed loop model in fishhook maneuver is illustrated in Fig. 7.
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Vehicle path following (path, lateral deviation), roll (load transfer, roll rate, roll and lateral
acceleration), handling performance (side slip, lateral velocity and acceleration) and control effort
(roll moment) at constant speed over Fishhook maneuver are presented in three cases (Figs. 8-15
respectively); FLC (120 km/hr), without control at 90 km/hr and 120 km/hr.
Vehicle path following and deviation of desired path, demonstrate that controller can properly
© JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716 3861
 1802. DEVELOPMENT OF FUZZY ANTI-ROLL BAR CONTROLLER FOR IMPROVING VEHICLE STABILITY.
JAVAD MARZBANRAD, GOLAMHOSSEIN SOLEIMANI, MEHDI MAHMOODI-K, AMIR H. RABIEE

control the vehicle dynamic variables to track driver intended path with minimize deviation. Also,
as shown in Figs. 8 and 9, increasing longitudinal velocity during fishhook maneuver results in

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more deviation of vehicle from track.

CO
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Fig. 7. Steering angle in fishhook maneuver
5

ON
0.2
Fuzzy Fuzzy
4
No control (u=90km/hr) No contro (U=90km/hr)
3 0.15
No control (u=120km/hr) No control (U=120km/hr)

2 0.1

1
0.05
Error(m)

0
y(m)

0
-1
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-2 -0.05

-3
-0.1
-4
-0.15
-5

-6 -0.2
0 50 100 150 200 250 300 350 400 0 2 4 6 8 10
time(s)
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x(m)

Fig. 8. Fishhook maneuver path Fig. 9. Lateral deviation in fishhook maneuver

0.4
1.5 Fuzzy
Fuzzy
0.3 No control (U=90km/hr)
No control (U=90km/hr)
No control (U=120km/hr)
No control (U=120km/hr) 1
0.2
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0.1 0.5
Roll rate (rad/s)
Roll(rad)

0
0

-0.1

-0.5
-0.2

-0.3 -1
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-0.4
0 2 4 6 8 10 0 2 4 6 8 10
time(s) time(s)

Fig. 10. Roll angle in fishhook Fig. 11. Roll rate in fishhook

Simulation results of vehicle roll variables includes roll angle, roll rate, load transfer and
controller moment over fishhook maneuver are depicted in Figs. 10-13 respectively. FLC has the
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minimum amount and oscillations of control effort and roll responses. Also, it is obvious that in
without control cases, vehicle tends to rollover and with increasing the vehicle longitudinal speed
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from 90 km/hr to 120 km/hr turning over occurs at = 3.8 second.

Furthermore, from the handling properties includes lateral acceleration of Fig. 14 and side slip
angle of Fig. 15 it can be concluded that the both controllers achieves the optimal handling
conditions. In controlled cases, lateral acceleration and side slip angles remain under 0.6 g and
4 degree during maneuver, which ensures vehicle stability and handling properties.
3862 © JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716
 1802. DEVELOPMENT OF FUZZY ANTI-ROLL BAR CONTROLLER FOR IMPROVING VEHICLE STABILITY.
JAVAD MARZBANRAD, GOLAMHOSSEIN SOLEIMANI, MEHDI MAHMOODI-K, AMIR H. RABIEE

12 0.08

Fuzzy Fuzzy
10
0.06

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No control (U=120km/hr) No control (U=90km/hr)
8 No control (U=90km/hr) No control (U=120km/hr)
0.04
6

4 0.02

Side slip (rad)

ay(m/s )
2

2
0
0

CO
-0.02
-2

-4 -0.04

-6
-0.06
-8
0 2 4 6 8 10 -0.08
0 2 4 6 8 10
time(s) time(s)

Fig. 14. Lateral acceleration in fishhook Fig. 15. Side slip angle in fishhook

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5. Conclusion

In this study, the effectiveness of anti-roll bar mechanism was investigated for improving
vehicle, stability, roll resistance, path following and handling properties. For this purpose FLC
theory based on vehicle 3 DOF roll dynamic are developed to produce optimal momentum.
ON
Controller are trained to follow desired side slip, roll angle, and yaw rates during various fishhook
maneuvers. An 8 DOF vehicle model in MATLAB/Simulink environment is utilized to simulate
the controller performance and vehicle behavior. Simulation results clarified that, control strategy
hold the lateral acceleration and side slip angles less than limited critical overturning and
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instability for various speeds and maneuvers. Moreover, the FLC roll and handling controller
showed better results, with smaller control effort, roll and side slip angles in severe maneuvers.
Finally, in regard to that in quick emergency maneuvers, vehicle has a greater likelihood to roll over,
the sensitivity analysis of FLC to longitudinal speed is conducted. It showed that proposed controller
could be more effective in high speed, which prevents the vehicle overturning in quick maneuvers.
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References

[1] http://www.carbibles.com/images/antiroll, 2015.

[2] Mahmoodi-Kaleibar M., Javanshir I., Asadi K., Afkar A., Paykani A. Optimization of suspension
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[3] Savaresi S. M., Poussot-Vassal C., Spelta C., Sename O., Dugard L. Classical Control for
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for enhancing vehicle ride and handling. 2012 IEEE Colloquium on Humanities, Science and
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2010, p. 929-934.
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[9] Singh A., Singh P., Zaurah I., Darus M. Active roll control strategy using fuzzy logic control active
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Multi-body Dynamics, Vol. 227, 2013, p. 115-132.

© JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716 3863
 1802. DEVELOPMENT OF FUZZY ANTI-ROLL BAR CONTROLLER FOR IMPROVING VEHICLE STABILITY.
JAVAD MARZBANRAD, GOLAMHOSSEIN SOLEIMANI, MEHDI MAHMOODI-K, AMIR H. RABIEE

[11] Wu J., Wang Q., Wei X., Tang H. Studies on improving vehicle handling and lane keeping
performance of closed-loop driver-vehicle system with integrated chassis control. Mathematics and

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Computers in Simulation, Vol. 80, 2010, p. 2297-2308.
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2014, p. 613-630.
[13] Tafner R., Reichhartinger M., Horn M. Robust online roll dynamics identification of a vehicle using

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sliding mode concepts. Control Engineering Practice, Vol. 29, 2014, p. 235-246.
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[16] Zhao H., Gao B., Ren B., Chen H. Integrated control of in-wheel motor electric vehicles using a
triple-step nonlinear method. Journal of the Franklin Institute, Vol. 352, 2015, p. 519-540.

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[17] Eteffagh M. M., Behkamkia D., Pedrammehr S., Asadi K. Reliability analysis of bridge dynamic
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[19] Cao J., Jing L., Guo K., Yu F. Study on integrated control of vehicle yaw and rollover stability using
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[20] Montazeri-Gh M., Mahmoodi-k M. Development a new power management strategy for power split
hybrid electric vehicles. Transportation Research Part D, Vol. 37, 2015, p. 79-96.
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Javad Marzbanrad is an Associate Professor at IUST. His research interests are
automotive, control and vibration and solid mechanics. Now, he is the faculty of School of
Automotive Engineering in IUST.
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Golamhosein Soleymani is a Ph.D. student in industrial management engineering at the

Tabatabae University. He is interested in automotive, vibration and nonlinear systems.
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Mehdi Mahmoodi-k received the M.S. degree in IUST, Tehran, in 2011. Now he is a
Ph.D. student in School of Mechanical Engineering, IUST. His current research interests
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include hybrid vehicles, vehicle dynamic, control and optimization.

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Amir H. Rabiee received the B.S. and M.S. degrees in mechanical engineering from
IUST, Iran in 2009 and 2011. He is currently a Ph.D. student in IUST and his research
interests focus on fluid-structure interaction control and active suspension systems.
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3864 © JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. NOV 2015, VOLUME 17, ISSUE 7. ISSN 1392-8716
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