H_infinity control for integrated side-slip, roll and yaw controls for ground vehicles

摘要

Two integration algorithms for vehicle chassis control systems-a feedforward integration method and an H_infinity control algorithm, are designed and presented in this paper. Both integration methods aim to coordinate VDC, 4WS and active suspension functions of ground vehicle. The feedforward integration method is based on the idea of decoupling the control inputs and the control goals by rejecting the effects of other chassis control inputs. The H_infinity control algorithm minimizes a defined cost function under disturbances (driver's steering angle and braking) and design all the chassis control functions simultaneously. The performance of these two integration methods was compared against an uncoordinated control under a set of mild as well as severe driving maneuvers.