PI Front Steering and PI Rear Steering Control with Tire Workload Analysis

A cooperative control strategy for yaw rate and sideslip angle control combining torque vectoring with rear wheel steering

“…The studies have moved along the implementation of multi-actuator systems, keeping in mind pros and cons of different control actuators [23][24][25][26]. In [27], [13], [14], [28] and [3] some PI based controls are proposed. Marino et al [27], use a decentralized PI control to follow a first order non-linear model reference driven by the driver input.…”

“…In [27], [13], [14], [28] and [3] some PI based controls are proposed. Marino et al [27], use a decentralized PI control to follow a first order non-linear model reference driven by the driver input. This control structure allows them to set arbitrary steady state values for lateral speed and yaw rate at any longitudinal speed.…”