Quantitative Feedback Theory Controller Design for Vehicle Stability Enhancement

Abstract

The main objective of this paper is to use a robust controller based on quantitative feedback theory on vehicle to control it at different work conditions. There are different parameters affecting vehicle stability from which Changes in speed, road condition, vehicle mass, center of gravity position and tire stiffness are the most important parameters in this aspect. In this paper, the various steps of controller design are undertaken and an optimal robust controller is designed. An eight degrees-of-freedom, nonlinear vehicle model is used for the evaluation of controller performance. Several maneuvers are considered for the vehicle motions under different working regimes in order to reveal the effectiveness of the design controller. The simulation results show very good vehicle behavior under controlled actions in situations where the uncontrolled vehicle has undesired behavior. It is also shown that with the presence of different uncertainties, the controller is able to produce accurate desired responses.