Rollover Control of AGV Combined with Differential Drive, Active Steering, and Centroid Adjustment under Slope Driving Condition

Figure 13

Comparison of experimental results and simulation results of PI controller and cooperative controller for sideslip angle under different loads. (a) 60 kg load PI controller. (b) 120 kg load PI controller. (c) 60 kg load cooperative controller. (d) 120 kg load cooperative controller.

(a)

(b)

(c)

(d)