Simultaneous improvement of handling and lateral stability via a new robust control system

Abstract

This article presents the development of a new combined controller based on an active steering system and an active braking system to increase maneuverability and the directional stability of the vehicle. First, to dominate the uncertainties of the dynamic model, sliding model control (SMC) method has been used. Then, to verify the performance of the proposed controller, a control system has been designed based on linear quadratic regulator (LQR) control method. Next, to investigate the performance of the controllers, a 14 degree-of-freedom (DOF) dynamic model has been utilized. The computer simulations confirmed the effectiveness of the robust controller in comparison with the LQR control system during critical maneuver.

Keywords:

• Simplified dynamic model
• robust control system
• stability analysis
• active braking system
• active steering system

Declaration of conflicting interests

The author(s) declared no potential conflicts of interest with respect to the research, authorship, and/or publication of this article.

Additional information

Funding

The author(s) received no financial support for the research, authorship, and/or publication of this article.