Integrated Adaptive Steering Stability Control for Ground Vehicle with Actuator Saturations

Abstract

During a steering manoeuvre in a ground vehicle, both yaw motion and roll motion can occur simultaneously, and their dynamics can be coupled, as the roll motion is generalized directly from the tires’ lateral force under steering. Hence, it is of significance to analyze them as an integrated plant in the vehicle steering stability control problem. Furthermore, the actuator saturation of yaw control cannot be neglected, as vehicles often steer at a high velocity or on low-friction roads. In this paper, an integrated steering dynamics model is established considering the coupling between the roll motion and lateral motion, then a novel nonlinear adaptive controller is proposed to stabilize the steering motion considering the actuator saturation of yaw motion control. Simulation results indicate that the designed integrated controller is effective in improving the performance of both the yaw rate tracking error and ride comfort taking into account vehicle parameter uncertainties and actuator saturation; the steering stability of ground vehicles can consequently be guaranteed.