Attitude and Handling Improvements Through Gain-scheduled Suspensions and Brakes Control
Résumé
In this paper, the problem of comfort and handling improvements of a ground vehicle is treated through the control of the suspension and braking systems. Two gain-scheduled controllers are synthesized (in the Hinf framework) to achieve, in the frequency domain, comfort and yaw performances according to the driving situation, observed by the mean of a monitor. The proposed strategy tackles the nonlinear tire braking force in an original way and meets the situation dependent objectives of the vehicle in a unified synthesis. Simulation tests on a complex nonlinear full vehicle model shows improvements of the proposed approach.