Attitude and handling improvements through gain-scheduled suspensions and brakes control

In this paper, the problem of comfort and handling improvements of a ground vehicle is treated through the joint control of the suspension and braking systems. Two H∞H∞ gain-scheduled controllers are synthesized to achieve attitude and yaw performances according to the driving situation, observed through a simple vehicle 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 framework. Simulations on a complex nonlinear full vehicle model, validated using experimental data obtained on a real vehicle, illustrate the improvements brought about by the proposed approach.

Research highlights►Global chassis control enhancing both comfort and safety►Lateral and yaw stability improvements►Reproduces the ABS through original LPV design►Adapt vehicle performances according to the driving situation