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<p>To address the rollover tendency of buses during high-speed steering maneuvers, a differential braking anti-rollover control method is proposed, in which the μ framework is optimized using a Covariance Matrix Adaptation Evolution Strategy (CMAES) guided by prior estimation from a Linear Quadratic Regulator (LQR). A three-degree-of-freedom (3-DOF) bus rollover dynamics model, considering lateral, yaw, and roll motions, is developed. A μ controller is designed to calculate the additional yaw moment required for rollover suppression, which is allocated through differential braking to achieve coordinated stability control. Since the performance of the μ controller strongly depends on the proper tuning of weighting function parameters, the CMAES algorithm is introduced for global optimization to minimize the upper bound of the structured singular value under structural uncertainties, thereby enhancing robust performance while satisfying control energy and actuator bandwidth constraints. To improve optimization efficiency and prevent local minima, the LQR method is utilized to estimate the prior search range of weighting parameters as boundary constraints for the outer optimization layer. Co-simulations in TruckSim and MATLAB/Simulink under typical rollover conditions, including fishhook and J-turn tests, show that the proposed LQR-CMAES-μ controller reduces the maximum absolute lateral load transfer ratio (LTR) by 20.5% compared with the conventional μ controller. The results demonstrate that the proposed method effectively enhances vehicle stability and exhibits strong robustness against system parameter variations and external disturbances.</p>

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Robust Anti-Rollover Control of Bus Based on Enhanced Covariance Matrix Adaptation Evolutionary Strategy

  • 期刊论文

  • 发表日期：

    2026年4月28日

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  • Chaochun Yuan,
  • Zhiyi Zhang,
  • Jie Shen,
  • Yingfeng Cai,
  • Youguo He,
  • Xinkai Wu,
  • Shuofeng Weng,
  • Tong Wang

摘要

To address the rollover tendency of buses during high-speed steering maneuvers, a differential braking anti-rollover control method is proposed, in which the μ framework is optimized using a Covariance Matrix Adaptation Evolution Strategy (CMAES) guided by prior estimation from a Linear Quadratic Regulator (LQR). A three-degree-of-freedom (3-DOF) bus rollover dynamics model, considering lateral, yaw, and roll motions, is developed. A μ controller is designed to calculate the additional yaw moment required for rollover suppression, which is allocated through differential braking to achieve coordinated stability control. Since the performance of the μ controller strongly depends on the proper tuning of weighting function parameters, the CMAES algorithm is introduced for global optimization to minimize the upper bound of the structured singular value under structural uncertainties, thereby enhancing robust performance while satisfying control energy and actuator bandwidth constraints. To improve optimization efficiency and prevent local minima, the LQR method is utilized to estimate the prior search range of weighting parameters as boundary constraints for the outer optimization layer. Co-simulations in TruckSim and MATLAB/Simulink under typical rollover conditions, including fishhook and J-turn tests, show that the proposed LQR-CMAES-μ controller reduces the maximum absolute lateral load transfer ratio (LTR) by 20.5% compared with the conventional μ controller. The results demonstrate that the proposed method effectively enhances vehicle stability and exhibits strong robustness against system parameter variations and external disturbances.