Global Chassis Control Using Coordinated Control of Braking/Steering Actuators

Automotive light vehicles are complex systems involving many different dynamics. On one side, vertical, roll and pitch behaviours are often related to comfort performances (indeed, roll is also linked to safety characteristics [23]). On the other hand, safety performances are mainly characterized by the longitudinal, lateral and yaw dynamics [38, 14]. In practice, these two behaviours are often treated in a decoupled may (the first dynamics are often related to suspensions systems while the second one to steering and braking systems). This chapter focuses on the safety problem, and more specifically, on lateral and yaw dynamics. It presents two close techniques to design robust gain-scheduled \(\mathcal{H}_\infty\) MIMO VDSC (Vehicle Dynamic Stability Controller), involving both steering and rear braking actuators. Both approaches aim at restoring the yaw rate of the vehicle as close as possible to the nominal motion expected by the driver. The specific framework of each of that approaches is given below.

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