{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,30]],"date-time":"2025-10-30T07:18:29Z","timestamp":1761808709841,"version":"build-2065373602"},"reference-count":48,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2025,1,14]],"date-time":"2025-01-14T00:00:00Z","timestamp":1736812800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2022YFE0100100"],"award-info":[{"award-number":["2022YFE0100100"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>In off-road environments, the lateral rollover stability of articulated unmanned rollers (URs) is critical to ensure operational safety and efficiency. This paper introduces the concept of a rollover energy barrier (REB), a symmetry-based metric that quantifies the energy margin between the current state and the critical rollover threshold of articulated rollers. URs exhibit dynamic asymmetry due to their hydraulic steering systems, which differ significantly from traditional passenger vehicles. To address these challenges, we propose a hierarchical control framework inspired by the principles of dynamic symmetry. This framework integrates Nonlinear Model Predictive Control (NMPC) and Active Disturbance Rejection Control (ADRC): NMPC is used for trajectory planning by incorporating the REB into the cost function, ensuring rollover stability, while ADRC compensates for dynamic asymmetries, model uncertainties, and external disturbances during trajectory tracking. Simulation and experimental results validate the effectiveness of the proposed control strategy in enhancing the rollover stability and tracking performance of the URs under off-road conditions.<\/jats:p>","DOI":"10.3390\/sym17010118","type":"journal-article","created":{"date-parts":[[2025,1,14]],"date-time":"2025-01-14T03:29:43Z","timestamp":1736825383000},"page":"118","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Symmetry-Inspired Hierarchical Control Strategy for Preventing Rollover in Articulated Rollers"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0529-2586","authenticated-orcid":false,"given":"Quanzhi","family":"Xu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Engines, Tianjin University, Tianjin 300072, China"}]},{"given":"Wei","family":"Qiang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Engines, Tianjin University, Tianjin 300072, China"}]},{"given":"Hui","family":"Xie","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Engines, Tianjin University, Tianjin 300072, China"}]}],"member":"1968","published-online":{"date-parts":[[2025,1,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"127981","DOI":"10.1109\/ACCESS.2020.3008455","article-title":"Path Tracking Control of an Articulated Road Roller with Sideslip Compensation","volume":"8","author":"Yang","year":"2020","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1007\/s43684-021-00005-z","article-title":"Model predictive control for autonomous ground vehicles: A review","volume":"1","author":"Yu","year":"2021","journal-title":"Auton. 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