A new LPV/H∞ Global Chassis Control through load transfer distribution and vehicle stability monitoring

This paper proposes a new multivariable LPV/H∞ Global Chassis Control (GCC) strategy, using suspension, active steering and electro-mechanical braking actuators. This new approach allows, by allocating the load transfer in the four corners of the vehicle, scheduling the suspensions actuators and so to enhance vertical performances. Also, through a consistent stability monitor, based on a slip dynamics supervision, the braking and the steering controllers are scheduled. The good distribution of the load transfer aims at tuning the suspensions in the four corners (either soft or hard), to improve the car holding. The stability index schedules the action of the braking and the steering actuators, to ensure a good coordination between those controllers. This strategy improves the car dynamics behavior and the vehicle stability. Simulations performed on a complex nonlinear full vehicle model, subject to critical driving situations, show the reliability and the robustness of the proposed solution.