Reconfigurable Control Design of Steering and Torque Vectoring Based on Reachability Set Analysis

摘要

The paper proposes a reconfigurable control design of steering and torque vectoring using a variable-geometry suspension system. Torque vectoring control is based on the independent driving of the wheels. Simultaneously, the steering angle is generated by the variable-geometry suspension system by varying the camber angle of the front wheels. The efficiency of wheel tilting and torque vectoring, and their coordinated actuation are in the focus of the paper. In the analysis a reachable set computation method on the polynomial model of the vehicle based on the trajectory reversing method and the Sum-of-Squares (SOS) programming is proposed. Based on the analysis results a reconfigurable control is designed using the Linear Parameter Varying (LPV) method.