Coordinated control with electronic stability control and active steering devices

This paper presents a coordinated control with Electronic stability control (ESC), Active front steering (AFS) and Active rear steering (ARS). Direct yaw moment control is used to generate a control yaw moment. Weighted pseudo-inverse based control allocation (WPCA) is adopted to distribute the control yaw moment into tire forces, generated by ESC, AFS and ARS. Variable weights in WPCA are presented for several purposes. Simulations on vehicle simulation software, CarSim^®, show that the proposed integrated chassis control is effective for maneuverability and lateral stability. Sensitivity analysis with Plackett-Burman method was done in order to check the effect of the variable weights.