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A Novel Integrated Vehicle Chassis Controller Coordinating Direct Yaw Moment Control and Active Steering
Technical Paper
2007-01-3642
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
To optimally allocate control authorities to co-existing active actuators, an integrated chassis controller with main/servo-loop structure is designed to coordinate direct yaw moment control and active steering. Firstly, a sliding mode controller in the main-loop calculates the desired stabilizing forces. Then in the servo-loop, by directly considering limits of road friction and actuators, a quadratic programming based control allocation approach is adopted to reasonably and optimally distribute these deisired forces to tire actuator actions. Co-simulation of Matlab/Simulink and Carsim clarifies that the proposed controller could significantly improve vehicle handling performances.
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Citation
Li, D. and Yu, F., "A Novel Integrated Vehicle Chassis Controller Coordinating Direct Yaw Moment Control and Active Steering," SAE Technical Paper 2007-01-3642, 2007, https://doi.org/10.4271/2007-01-3642.Also In
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