Abstract
In this paper, an integrated vehicle and wheel stability control is developed and experimentally evaluated. The integrated structure provides a more accurate solution as the output of the stability controller is not altered by a separate unit, therefore its optimality is not compromised. Model predictive control is used to find the optimal control actions. The proposed control scheme can be applied to a wide variety of vehicle driveline and actuation configurations such as: four, front and rear wheel drive systems. Computer simulations as well as experiments are provided to show the effectiveness of the proposed control algorithm.
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