Robust control design for the integration of steering and torque vectoring using a variable-geometry suspension system

Balazs Nemeth, P. Gáspár, Daniel Fenyes, Jozsef Bokor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The paper proposes a robust control design for the integration of steering and torque vectoring using a variable-geometry suspension system. Torque vectoring control is based on independent steering/driving wheel systems, which is an actual challenge in the field of electric vehicles. Simultaneously, the steering angle is generated by the variable-geometry suspension system by changing the camber angle and the position of the wheel-road contact independently at each wheel at the front. The integration of torque vectoring and wheel tilting control is in the focus of the paper. The modeling of the lateral and the steering dynamics of the vehicle leads to interconnection models. A hierarchical structure of both the modeling and the control design is formed. The control design itself is based on the Linear Parameter-Varying (LPV) method. The robustness of the control system can be achieved by estimating and considering the uncertainties in the different layers of the hierarchical structure. In the LPV-based control design the reconfiguration strategy is also applied.

Original languageEnglish
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages291-296
Number of pages6
ISBN (Electronic)9781509059928
DOIs
Publication statusPublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Other

Other2017 American Control Conference, ACC 2017
CountryUnited States
CitySeattle
Period5/24/175/26/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Nemeth, B., Gáspár, P., Fenyes, D., & Bokor, J. (2017). Robust control design for the integration of steering and torque vectoring using a variable-geometry suspension system. In 2017 American Control Conference, ACC 2017 (pp. 291-296). [7962968] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2017.7962968