Abstract
This paper discusses an optimal algorithm for distributing tyre force by an analytical multiplier penalty function method with which the maneuverability and stability of the four-wheel independent driving vehicles can be improved. Based on hierarchical method, the controller is divided into the upper level and lower level one. In the upper level controller, the yaw moment is calculated by sliding control to track the desired yaw rate. In the lower level controller, the analytical multiplier penalty method is utilized to distribute the yaw moment to tyre forces according with equality constraints of yaw and longitudinal acceleration. Simulation was conducted with Matlab/Simulink and Carsim. Simulation results show that the proposed method is effective.
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