Integrated vehicle dynamics control using brake-by-wire and active suspension

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Integrated vehicle dynamics control using brake-by-wire and active suspension

Teerhuis, Arjan / Alirezaei, M.Ohsen

In this paper, an integrated vehicle dynamics controller (IVDC) is developed. The main goal of the IVDC is to stabilize the vehicle during limit-handling manoeuvres, by means of brake-by-wire and active suspension system. The proposed full-state feedback IVDC is based on a nonlinear vehicle model with nonlinear combined slip tire characteristics and State Dependent Riccati Equation technique (SDRE), ideally suited for multiple input - multiple output (MIMO) systems. The nonlinear regulator is derived by minimizing a function which is formulated as a weighted integral of the control objectives and the actuators effort. A Vehicle State Estimator (VSE) is required to provide an estimate of the full state of the vehicle to the IVDC. The VSE is based on the nonlinear model of the vehicle and the Extended Kalman Filter algorithm. The proposed IVDC and VSE are implemented on a Jaguar XF, equipped with brake-by-wire and a full active suspension system. Experimental results show the effectiveness of the proposed IVDC in stabilizing the vehicle during limit handling manoeuvres by using braking only, suspension only or a combination of both.