Gain-scheduled integrated active steering and differential control for vehicle handling improvement

Abstract

This paper presents a gain-scheduled active steering control and active differential design method to preserve vehicle stability in extreme handling situations. A new formulation of the bicycle model in which tyre slip angles, longitudinal slips and vehicle forward speed appear as varying vehicle parameters is introduced. Such a model happens to be useful in the design of vehicle dynamics controllers scheduled by vehicle parameters: after having expressed the parametric bicycle model in the parametric descriptor form, gain-scheduled active steering and differential controllers are designed to improve vehicle handling at ‘large’ driver-commanded steering angles. Simulations reveal the efficiency of the selected modelling and controller design methodology in enhancing vehicle handling capacity during cornering on roads with varying adhesion coefficient and under variable speed operation.

Keywords:

• active steering
• active differential control
• linear parameter varying systems
• gain scheduling

Acknowledgements

This research was funded by the Boğaziçi University Research Fund under Project No. 05A604. The second author acknowledges the support of the European Union Framework Programme 6 through the AUTOCOM SSA project (INCO Project No. 16426).