Abstract
In this paper, vehicle chassis control integration has been investigated based on a two-loop control structure combining tyre longitudinal slip regulation and steering control. The H∞ mixed sensitivity loop-shaping combined with LQR algorithm are used for the main-loop design, to guarantee both tracking performance and robust stability for vehicle motion control. The resultant stabilising forces and moment are distributed among wheels by servo-loop control using quadratic optimisation approach. Simulation results indicate that both the main-loop and servo-loop control have indispensable roles in the integration, and remarkably handling performance improvement can be achieved using the proposed structure.
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