Gain scheduled integrated vehicle control based on a parametric yaw roll model

A gain scheduled integrated vehicle control design method that preserves vehicle stability in extreme handling situations is presented in this study. A new formulation of the classical yaw roll model in which tire slips appear as varying vehicle parameters is introduced. Such a model is shown to be useful in the design of vehicle dynamics controllers scheduled by vehicle parameters: after having expressed the derived parametric yaw roll model in the descriptor form, gain scheduled active steering, differential and suspension controllers are integrated in this study to improve vehicle handling at ldquolargerdquo driver commanded steering angles. Simulations reveal the efficiency of the selected modeling and controller design methodology in enhancing vehicle handling.