Integrated model reference adaptive control to coordinate active front steering and direct yaw moment control.

The paper proposes an integrated adaptive coordination technique for active front steering (AFS) and direct yaw moment control (DYC). The main contribution is to present an integrated multi-input multi-output (MIMO) adaptive control method to manage the variations of vehicle mass and tire-road friction coefficient as parameter uncertainties. The proposed integrated control strategy encompasses two: upper and lower control layers. At the upper control layer, there is a model reference adaptive controller responsible for generating additive steering angle and corrective yaw moment. The coordination between AFS and DYC is realized using a gain scheduling mechanism based on a stability index. At the lower control layer, the desired yaw moment is converted to the brake torque before being applied to the rear wheels. Three critical and important high-speed lane-change maneuvers are considered. The simulation results confirm that the proposed control structure can reduce the sideslip angle and lateral acceleration. Furthermore, the system tracking performance in terms of handling and stability in different maneuvers is improved.