Robust Two Degree-of-Freedom Vehicle Steering Controller Design

Integrated vehicle dynamics control via coordination of active front steering and rear braking

“…Active Front Steering (AFS) [21,16,10], Active Rear Steering (ARS) [24] and Active Four Wheel Steering (W 4S) [25]. This study mainly focusses on the most commonly used AFS approach.…”

“…This study mainly focusses on the most commonly used AFS approach. This latter may be formulated using disturbance observer control method [21,22], sliding mode control [23], predictive control [16], or other control techniques. Such active handling control usually serves a steering support system by applying an additional steering angle to the driver's steer command.…”

“…Thus, it is ensured that the steering action is comfortable for the driver. This filter design is inspired from [21,22].…”

Vehicle dynamic stability improvements through gain-scheduled steering and braking control

“…Longitudinal vehicle behaviours have been and still are widely studied through the rotational wheel and slip dynamic control, leading to the development of anti-locking braking system (ABS) strategies [2][3][4][5]; concerning the lateral and yaw behaviours, related to handling and safety performances, many papers involve steering control [6][7][8][9][10][11] or braking control [12,13]. Since the last decade, the tendency is now to use both actuators [14].…”

“…• Even if the steering system greatly enhances the vehicle dynamical behaviour, it is unlikely for the driver (and power demanding) that the steering wheel acts too much when riding. As a consequence, steering should act in a given frequency range and only if it is necessary [10].…”