Title: Study on vehicle chassis control integration based on vehicle dynamics and separate loop design approach

Authors: Xiao-Ming Shen, Fan Yu

Addresses: Institute of Automotive Engineering, Shanghai Jiao Tong University, Shanghai, 200240, PR China. ' Institute of Automotive Engineering, Shanghai Jiao Tong University, Shanghai, 200240, PR China

Abstract: In this paper, vehicle chassis control integration has been investigated based on a two-loop control structure combining tyre longitudinal slip regulation and steering control. The H∞ mixed sensitivity loop-shaping combined with LQR algorithm are used for the main-loop design, to guarantee both tracking performance and robust stability for vehicle motion control. The resultant stabilising forces and moment are distributed among wheels by servo-loop control using quadratic optimisation approach. Simulation results indicate that both the main-loop and servo-loop control have indispensable roles in the integration, and remarkably handling performance improvement can be achieved using the proposed structure.

Keywords: vehicle dynamics; chassis control integration; slip control; four-wheel steering; mixed sensitivity loop shaping; LQR; steering control; tracking performance; vehicle stability; motion control; servo-loop control; simulation; handling performance.

DOI: 10.1504/IJVAS.2007.014931

International Journal of Vehicle Autonomous Systems, 2007 Vol.5 No.1/2, pp.95 - 118

Available online: 20 Aug 2007 *

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