Integration of control design and variable geometry suspension construction for vehicle stability enhancement

The paper proposes a method in which the construction of the variable geometry suspension system and the design of robust suspension control are performed simultaneously in order to enhance vehicle stability. In the control scheme a predefined road trajectory required by the driver with a steering command is followed to carry out various maneuvers. The variable geometry suspension system provides the modification of the mechanical geometry efficiently. During maneuvers an autonomous control system influences the camber angles of the rear wheels by using a variable geometry suspension system. The control system must guarantee various crucial vehicle performances such as trajectory tracking, roll stability and geometry limits. Since there is an interaction between the construction design and the control design a balance must be achieved between them.