Handling stability improvement through robust active front steering and active differential control
- 8 September 2010
- journal article
- research article
- Published by Taylor & Francis Ltd in Vehicle System Dynamics
- Vol. 49 (5), 657-683
- https://doi.org/10.1080/00423111003671900
Abstract
The design of the integrated active front steering and active differential control for handling improvement of road vehicles is undertaken. The controller design algorithm is based on the solution of a set of linear matrix inequalities that guarantee robustness against a number of vehicle parameters such as speed, cornering and braking stiffnesses. Vehicle plane dynamics are first expressed in the generic linear parameter-varying form, where the above-stated parameters are treated as interval uncertainties. Then, static-state feedback controllers ensuring robust performance against changing road conditions are designed. In a first series of simulations, the performance of the integrated controller is evaluated for a fishhook manoeuvre for different values of road adhesion coefficient. Then, the controller is tested for an emergency braking manoeuvre executed on a split-μ road. In all cases, it is shown that static-state feedback controllers designed by the proposed method can achieve remarkable road handling performance compared with uncontrolled vehicles.Keywords
This publication has 13 references indexed in Scilit:
- Nonlinear optimal integrated vehicle control using individual braking torque and steering angle with on-line control allocation by using state-dependent Riccati equation techniqueVehicle System Dynamics, 2009
- Robust control of anti-lock brake systemVehicle System Dynamics, 2007
- Study on vehicle chassis control integration based on a main-loop-inner-loop design approachProceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2006
- Vehicle dynamics integrated control for four-wheel-distributed steering and four-wheel-distributed traction/braking systemsVehicle System Dynamics, 2006
- A comparison of braking and differential control of road vehicle yaw-sideslip dynamicsProceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2005
- Vehicle Handling Improvement by Active SteeringVehicle System Dynamics, 2002
- Automotive vehicle control challenges in the 21st centuryControl Engineering Practice, 2000
- Using SeDuMi 1.02, A Matlab toolbox for optimization over symmetric conesOptimization Methods and Software, 1999
- Bifurcation in vehicle dynamics and robust front wheel steering controlIEEE Transactions on Control Systems Technology, 1998
- Improvement of Vehicle Maneuverability by Direct Yaw Moment ControlVehicle System Dynamics, 1993