Vehicle Dynamics Control System Design by Use of Integrated Control of Front Steering Angle and Driving/Braking Torque for a Micro Four In-Wheel-Motor Vehicle

Abstract

This paper proposes design of a vehicle dynamics control system by use of integrated control of front steering angle and driving/braking torque for a micro four in-wheel-motor vehicle, provided as the benchmark problem No.3. Based on frequency responses analysis for the identified model by the subspace system identification method, an H_∞ controller is designed to hold the conventional vehicle stability, avoiding conflict between front steering angle and driving/braking torque control. By carrying out simulations under side wind crossing and double lane change, the vehicle stability of the control system designed are validated.