Dual-mode Control Allocation for Integrated Chassis Stabilization

Abstract A hierarchical control architecture for lateral stabilization in automotive vehicles is proposed in this paper. The proposed direct yaw stabilization strategy is based on the optimal coordination of two conventional stabilization systems (differential brake and traction torque transfer). Thanks to this approach, high stabilization capabilities are obtained while the impact on the longitudinal motion is reduced. The control architecture is a three layer structure composed of a high-level control, an optimal control allocation and a low-level control. The main idea consists in the use of a dual-mode control allocation formulation to handle the different operating modes of the wheel according to available actuators, i.e. conventional braking and/or torque transfer. The performance of the integrated control strategy proposed is highlighted through simulation results.