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

Figure 9

Comparison of vehicle control response under different loads by PI controller and cooperative controller. (a) Yaw rate. (b) Sideslip angle. (c) Roll angle. (d) Comparison of high-load and low-load LTR under cooperative control.

(a)

(b)

(c)

(d)