In this paper, the design of a vehicle dynamics controller is presented. This paper presents a multi-input-multi-output (MIMO) control strategy which will lead the way to a global chassis controller. As an example the authors use two autonomous active systems and combine the best features of an active-rear-steering system (ARS) and a torque-vectoring system (TV) toimprove drivability and stability of a prototype car. In principle ARS can be used to steer a car independently of the drivers input. A TV system offers the possibility to improve the yaw motion characteristics of a car concerning agility and stability. The usability of this approach is shown by simulation and by on-road tests with a prototype car. The paper is organized as follows: in section 2 the active systems are presented and a mathematical plant-model is derived. A MIMO control strategy is developed in section 3. In section 4 the results from simulation and on-road testing are discussed. Section 5 concludes the presented work and outlines future activities.


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    Title :

    Vehicle dynamics control with torque vectoring and active rear steering using sliding mode control


    Additional title:

    Steuerung der Fahrzeugdynamik mit Hilfe des Drehmomentvektors und aktiver Hinterradslenkung mit gleitender Regelung


    Contributors:


    Publication date :

    2007


    Size :

    8 Seiten, 10 Bilder, 3 Tabellen, 15 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English