This work studies the combination of active front steering with rear torque vectoring actuators in an integrated controller to guarantee vehicle stability. Adaptive feedback technique has been used to design the controller. The feedback linearization is applied to cancel the nonlinearities in the input-output dynamics of the vehicle. Parameter adaptation then is used to robustify the exact cancellation of the nonlinear terms. The results show tracking and stabilization capabilities when important parameters, like tire stiffness and tire characteristics, are affected by estimation errors.
This work studies the combination of active front steering with rear torque vectoring actuators in an integrated controller to guarantee vehicle stability. Adaptive feedback technique has been used to design the controller. The feedback linearization is applied to cancel the nonlinearities in the input-output dynamics of the vehicle. Parameter adaptation then is used to robustify the exact cancellation of the nonlinear terms. The results show tracking and stabilization capabilities when important parameters, like tire stiffness and tire characteristics, are affected by estimation errors.
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