부산대학교 도서관

In order to improve the vehicle handling performance and lateral stability, an integration of Active Front Steering Control (AFS) and Direct Yaw Moment Control (DYC) has been investegated. Model Predictive Controller (MPC) has been formulated for integrated AFS and DYC. The driver steer angle has been treated as a desired steering command and MPC controller is designed to calculate optimal steer angle and the amount of brakes by considering steering angle constraints and driver's steer angle. To design more effective control scheme, different road conditions like slippery, rough and normal, have been considered. In these situations vehicle's tires road adhesion coeficients (µ) varies. The proposed work treats variation of adhesion coefficients as parameter uncertainty and Optimal Guaranted Cost Controller (OGCC) used to handle this uncertainity. So in the proposed work both MPC and OGCC work in coordination to calculate the suitable steer angle and optimal brakes so that the best possible responce can be achieved. Different simulations have been performed in order to verify the effectivness of proposed controller. Simulation results of the proposed control scheme have also been compared with the results of different control stratigies.