Abstract
We investigate an optimal integrated control of the vehicle equipped with active steering system and independent braking system. The proposed controller uses DYC(Direct Yaw moment Control) and active 4 wheel steering simultaneously to improve the handling and stability of vehicle. A model following robust controller that specifies the required yaw moment and total lateral force is designed through LMI(Linear Matrix Inequality) formulation. To generate the target steer angles and reference brake pressures in each 4 wheel, the control allocation method is synthesized via QP(Quadratic programming). Simulation results show that the proposed integrated controller enhances the stability and handling of vehicle effectively in several driving maneuvers.
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