Title: Adaptive integrated vehicle control using active front steering and rear torque vectoring
Authors: Domenico Bianchi, Alessandro Borri, Maria Domenica Di Benedetto, Stefano Di Gennaro, Gilberto Burgio
Addresses: Center of Excellence DEWS, Department of Electrical and Information Engineering, University of L'Aquila, Poggio di Roio, 67040 L'Aquila, Italy. ' Center of Excellence DEWS, Department of Electrical and Information Engineering, University of L'Aquila, Poggio di Roio, 67040 L'Aquila, Italy. ' Center of Excellence DEWS, Department of Electrical and Information Engineering, University of L'Aquila, Poggio di Roio, 67040 L'Aquila, Italy. ' Center of Excellence DEWS, Department of Electrical and Information Engineering, University of L'Aquila, Poggio di Roio, 67040 L'Aquila, Italy. ' Global Vehicle Dynamics, Ford Research and Advanced Engineering Europe, 52072 Aachen, Germany
Abstract: This work studies the combination of Active Front Steering (AFS) with Rear Torque Vectoring (RTV) actuators in an integrated controller to guarantee vehicle stability. Adaptive feedback technique has been used to design the controller. The feedback linearisation is applied to cancel the nonlinearities in the input–output dynamics of the vehicle. Parameter adaptation then is used to robustify the exact cancellation of the nonlinear terms. The results show tracking and stabilisation capabilities when important parameters, like tyre stiffness and tyre characteristics, are affected by estimation errors.
Keywords: integrated vehicle control; AFS; active front steering; RTV; rear torque vectoring; nonlinear control; adaptive control; vehicle stability; vehicle dynamics.
DOI: 10.1504/IJVAS.2010.035792
International Journal of Vehicle Autonomous Systems, 2010 Vol.8 No.2/3/4, pp.85 - 105
Received: 25 Apr 2009
Accepted: 16 Sep 2009
Published online: 04 Oct 2010 *