Modelling and Control of a Vehicle with Single-wheel Chassis Actuators
Abstract
For a vehicle equipped with active single-wheel steering, brake, driveand suspension systems a nonlinear vehicle model is presented. On the basis of thismodel an integrated vehicle dynamics control is developed comprising all of thementioned chassis actuators to control the plane vehicle motion. The basic controlstrategy consists in two parts. One part is a flatness based tracking controller forthe vehicle motion, delivering a yaw moment and forces in longitudinal and lateraldirection as control commands. The other part is an analytical allocation of thesecontrol commands into adequate commands for the chassis actuators, i.e. steerangles, wheel speeds and a wheel load intervention.
