An integrated active nonlinear controller for wheeled vehicles

In this paper a dynamic nonlinear controller for lateral and yaw velocities is presented, for vehicles in which the roll dynamics cannot be neglected. The controller dynamics estimate the lateral velocity, the roll position and the roll velocity. This technique is based on measurements of the longitudinal and lateral accelerations, longitudinal velocity, yaw rate and steer angle, usually available in modern vehicles. The nonlinear controller ensures exponential convergence of the estimations. Test maneuvers, obtained with the full-vehicle CarSim model under different road adhesion conditions, have been used to check the controller performance, as well as its robustness with respect to parameter variations and measurement noise.