Improvement of vehicle handling by nonlinear integrated control of four wheel steering and four wheel torque

摘要

A nonlinear control system that integrates active four wheel steering and four wheel torque control is introduced in this paper. The theory for continuous time nonlinear predictive control is applied to the design of the control system. The advantages of coordination of four wheel steering and individual wheel torque control are demonstrated through computer simulations. Simulations in which the driver dynamics are taken into account are also carried out. The results of the simulation show that the vehicle maneuverability and stability can be remarkably improved even in a near limit cornering condition by the proposed nonlinear control system.