Research on Nonlinear Robust Control of Steering/Braking System of Heavy-duty Vehicle

摘要

There is a strong coupling relationship between vehicle steering and braking process, which affects vehicle driving safety and handling stability. A nonlinear robust control system is proposed in this paper. To improve the robustness and the coordination of the whole system, a nonlinear robust controller based on Hamilton function method is designed according to the nonlinear comprehensive model of the vehicle steering and braking. The dissipative Hamilton realization of this controller is obtained by a state pre-feedback technique. The stability and the validity of the control algorithm are validated by simulation results.