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This paper presents a robust control approach to keeping directional and driving stability for a road vehicle after a tire blow-out. Considering the time-varying vehicle velocity as well as the uncertain tire characteristics, a linear parameter varying vehicle model is built. With front wheel steering angle and yaw control moment as control inputs, a gain-scheduling H∞ controller is developed to attenuate the effects of a flat tire. An optimal control allocation law is presented to perform the yaw control moment by differential braking on the other three tires. Finally, a hardware-in-the-loop testing system, composed of the veDYNA high-fidelity software program and an actual automotive hydraulic braking system, is utilized for controller validation. The results clearly demonstrate the effectiveness of the proposed coordinated controller in improving vehicle directional stability and robustness against the disturbances caused by a tire blow-out.

Flow-valve modelling and wheel-slip control are investigated for an automotive hydraulic braking system which uses flow valves to supply brake fluid into the wheel cylinder and on/off valves to exhaust the brake fluid. First, the model of the flow valve is built using an experiment method, since its mechanism is difficult to analyse. Furthermore, because of the intrinsic difference between the two distinct valves, a special control problem is raised concerning how to realize wheel-slip control by using a unified strategy. Considering the essential characteristics of the two valves, a hybrid control approach, which contains an ordinary, continuous, state feedback function and a supervisory logic rule, is explored. Then, one feasible solution is obtained based on Lyapunov theory in the Filippov framework, so that the convergence of the control system is strictly guaranteed in theory. The controller has few tuning parameters and it is simple to tune. Illustrative hardware-inthe-loop simulation tests are carried out. The results show that both braking efficiency and ride quality are achieved, even if there are errors in the actuator control as well as in estimation of vehicle speed.

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A new vehicle motion control strategy is proposed, which synthesizes the rolling and yaw performance of vehicle by cooperating the damping force of semi-active suspension and yaw moment. To address the coupled dynamic behavior of roll and yaw motion, the modeling approach for nonlinear roll and yaw coupled dynamics is firstly employed. Furthermore, considering that the yaw and roll controllers are located in different electronic control units in practice, a distributed structure of cooperative control is presented. The key of cooperative control is that the damping force of semi-active suspension is controlled to adjust the roll dynamic, the front- and rear-axle load transfer cooperating the yaw motion; the yaw stability controller is designed to improve the yaw dynamic performance. To design the suspension damping force controller, the effect of the suspension damping force on roll and yaw dynamic behavior is discussed, and the piecewise-linear damping-force model with drive current as input is established. Moreover, the optimal suspension drive current is designed to alter roll performance and load transfer. To enhance the yaw dynamic performance, the yaw stability controller based on a sliding mode method is explored, and the optimal sliding-surface parameter is discussed to synthesize the settling time and overshoot of the yaw rate. Simulation and hardware-in-loop (HIL) test results show that the cooperative control combines the roll and yaw dynamics performance well; the overshoot and oscillation of yaw rate and lateral speed can be restrained.