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Vehicle System Dynamics
International Journal of Vehicle Mechanics and Mobility
Volume 47, 2009 - Issue 1
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Original Articles

Coordinated control of AFS and DYC for vehicle handling and stability based on optimal guaranteed cost theory

Xiujian Yang Vehicular Institute of Mechanical Engineering Department, Shandong University, Jinan City, People's Republic of ChinaCorrespondence[email protected]
,
Zengcai Wang Vehicular Institute of Mechanical Engineering Department, Shandong University, Jinan City, People's Republic of China
&
Weili Peng Vehicular Institute of Mechanical Engineering Department, Shandong University, Jinan City, People's Republic of China
Pages 57-79 | Received 16 Jul 2007, Published online: 31 Oct 2008
 
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Abstract

Considering the uncertainty of tyre cornering stiffness due to the frequent variation of running conditions, a new coordination scheme is proposed based on optimal guaranteed cost control technique by coordinating active front steering and direct yaw moment control. A general procedure to develop an optimal guaranteed cost coordination controller (OGCC) is presented, and the effect of uncertainty deviation magnitude on the control system is discussed. An optimal coordination (OC) scheme based on LQR is also presented. Many simulations are carried out on an 8-DOF nonlinear vehicle model for a slalom manoeuvre and a lane-change manoeuvre, respectively. The simulation results show that the OGCC scheme has superior stability and tracking performances at different running conditions compared with the OC scheme.

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