Journal
VEHICLE SYSTEM DYNAMICS
Volume 46, Issue -, Pages 341-351Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00423110801939204
Keywords
vehicle dynamics; tyre nonlinearities; active steering; direct yaw moment controls; active stabiliser
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In order to coordinate steering. braking/traction and active stabiliser. an integrated vehicle Chassis controller is proposed. The controller is realised via a main/servo-loop structure: in the main-loop. stabilising forces/moments are first calculated using robust sliding mode controller: then in the servo-loop. the stabilising forces/moments are optimally distributed to tyre control input, i.e. active steering and wheel torques. To reduce body roll angle and assist to track the desired yaw rate, active stabilisers arc further integrated. Through open-loop and closed-loop simulations Using Matlab/Simulink (R) and MSC CarSim (R), it is verified that the controller can significantly improve vehicle handling performances and ride in comfort in the meantime.
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