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Gain-scheduled integrated active steering and differential control for vehicle handling improvement

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Abstract:

This paper presents a gain-scheduled active steering control and active differential design method to preserve vehicle stability in extreme handling situations. A new formulation of the bicycle model in which tyre slip angles, longitudinal slips and vehicle forward speed appear as varying vehicle parameters is introduced. Such a model happens to be useful in the design of vehicle dynamics controllers scheduled by vehicle parameters: after having expressed the parametric bicycle model in the parametric descriptor form, gain-scheduled active steering and differential controllers are designed to improve vehicle handling at 'large' driver-commanded steering angles. Simulations reveal the efficiency of the selected modelling and controller design methodology in enhancing vehicle handling capacity during cornering on roads with varying adhesion coefficient and under variable speed operation.

Keywords: active differential control; active steering; gain scheduling; linear parameter varying systems

Document Type: Research Article

DOI: http://dx.doi.org/10.1080/00423110801927100

Affiliations: 1: Department of Mechanical Engineering, Hacettepe University, Ankara, Turkey 2: Department of Mechanical Engineering, Boğazici University, Istanbul, Turkey

Publication date: January 1, 2009

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