Functional integration of slip control with active suspension for improved lateral vehicle dynamics

xi List of symbols and abbreviations xv 1 The role of control in vehicle dynamics 1 1.1 Vehicle dynamics: the development of active control systems 1 1.2 Functional integration of vehicle dynamics control systems 3 1.3 State-of-the-art 5 1.3.1 Stand-alone systems 5 1.3.2 Functional comparison of active control systems 7 1.3.3 Concepts for functional integration 8 1.3.4 Summary 9 1.4 Problem definition 9 1.5 Outline of the thesis 12 2 Analysis of vehicle dynamics for control design 15 2.1 Fundamentals 15 2.1.1 The tyre 15 2.1.2 Lateral dynamics of uncontrolled vehicles 20 2.1.3 Summary 28 2.2 Modelling of lateral vehicle dynamics 28 2.2.1 The linear single-track model 28 2.2.2 Tyre modelling 31 2.2.3 The extended non-linear single-track model (ENSM) 33 2.2.4 The analysis of yaw moments with active control 35 2.2.5 Summary 36 2.3 Options for lateral vehicle dynamics control 36 2.3.1 Active suspension control 36 2.3.2 Slip control 57 2.3.3 Comparison and system interaction 65

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