Multipurpose Models of Vehicle Dynamics for Controller Design

As an aid in conceptual development of sophisticated integrated control strategies for torque, brakes, steering, and suspensions in ground vehicles, reasonable physical system models are necessary. These models must be sufficiently complete to include the important dynamics, but not so complex that insight is obscured. This paper develops several vehicle models of varying complexity that can aid in the design synthesis of controllers. The potential uses of these models is described.