Coordination of independent steering and torque vectoring in a variable-geometry suspension system

Balázs Németh, Dániel Fényes, Péter Gáspár, József Bokor

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

— In this paper, the coordination and control design of a variable-geometry suspension is proposed, in which independent steering and torque vectoring are integrated. The motivation of this paper is the research on the novel smart actuators for autonomous urban vehicles, by which various functionalities can be achieved. The goal of this paper is to propose a control design for trajectory tracking with increased reachability domain. Therefore, in this paper, the hierarchical control design of the suspension system using robust and linear-parameter varying (LPV) methods is presented. The robust stability of the hierarchy is guaranteed through the modeling of the uncertainties of different control layers. Furthermore, the coordination of independent steering and torque vectoring is proposed, which is based on a nonlinear reachability analysis of the interventions. The efficiency of the prosed method is presented through the high-complexity simulation software of the vehicle dynamics (CarSim) and the suspension construction (SimMechanics).

Original languageEnglish
Article number8458160
Pages (from-to)2209-2220
Number of pages12
JournalIEEE Transactions on Control Systems Technology
Volume27
Issue number5
DOIs
Publication statusPublished - Sep 1 2019

Keywords

  • Coordinated control
  • Index Terms—Autonomous urban vehicles
  • Linear-parameter varying (LPV) methods
  • Reachable sets
  • Variable-geometry suspension

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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