Abstract
This paper proposes a method in which the construction of a variable-geometry suspension and the design of a robust suspension control are simultaneously performed to enhance vehicle stability. The control system guarantees various crucial performances that are related to the chassis roll angle and half-track change. Moreover, by changing the camber angles of the front wheels, the yaw rate of the vehicle is modified, which can be used to reduce the tracking error from the reference yaw rate. The design of a suspension control system is based on robust linear parameter varying (LPV) methods, which meet performance specifications and guarantee robustness against model uncertainties. Since there is an interaction between the construction design and the control design, a balance must be achieved between them.
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