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

Table 1

Vehicle system parameters.

Symbol	Name and unit	Value
m	Full load mass (kg)	300
T	Track width (m)	1.0
R	Wheel radius (m)	0.23
a	Distance between centroid and front axis (m)	0.76
b	Distance between centroid and rear axis (m)	0.84
L	Wheelbase	1.6
	Height of centroid (m)	0.42
I ω	Wheel moment of inertia (kg·m^2)	0.579
I z	Yaw moment of inertia (kg·m^2)	102
I x	Roll moment of inertia (kg·m^2)	39