Vehicle dynamic stability improvements through gain-scheduled steering and braking control

TLDR

The study develops a robust gain‑scheduled H∞ MIMO vehicle dynamic stability controller that improves yaw and lateral performance while respecting braking limits and activating steering only when needed. The controller is synthesized as a parameter‑dependent LPV H∞ design solved via an LMI, and integrated with a local ABS strategy to ensure slip stability. Simulations on a validated full‑vehicle model under critical driving scenarios demonstrate the controller’s efficiency and robustness.

Abstract

This paper is concerned with the synthesis of a robust gain-scheduled ℋ∞ MIMO vehicle dynamic stability controller (VDSC) involving both steering and rear braking actuators. This VDSC aims at improving automotive vehicle yaw stability and lateral performances. The aim of this work is to provide a methodology to synthesise such a controller while taking into account the braking actuator limitations and use the steering actuator only if it is necessary. These objectives are treated in an original way by the synthesis of a parameter-dependent controller built in the LPV framework and by the solution of an LMI problem. The proposed solution is coupled with a local ABS strategy to guarantee slip stability and make the solution complete. Nonlinear time and frequency domain simulations on a complex full vehicle model (which has been validated on a real car), subject to critical driving situations, show the efficiency and robustness of the proposed solution.