Abstract
The rollover of buses has received considerable attention and the integrated control of multiple active security systems has become a hot spot. Due to good performance, the active front steering (AFS) control, direct yaw-moment control (DYC), and active roll control (ARC) are integrated to enhance rollover prevention capability. In this work, we propose a mixed H 2 /H ∞ controller design method based on the linear quadratic regulator (LQR) tracking control to coordinate integrated systems and keep vehicle roll and yaw stability. The problem is described in the form of an augment discrete-time tracking model integrated with AFS, DYC, and ARC. A mixed H 2 /H ∞ tracking controller is proposed and the controller gain is obtained by solving linear matrix inequalities (LMIs). Co-simulations with Simulink and TruckSim are carried out. The results show that the designed tracking controller achieves good control performance in both roll and yaw stability.
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