A Novel Reconfigurable Integrated Vehicle Stability Control With Omni Actuation Systems

This paper introduces a novel control structure for integrated vehicle stability control that can be reconfigured for a wide range of vehicles with different types and combinations of control actuation. The proposed structure can be easily adjusted for a specific vehicle as it enables any actuator to be readily added or removed without reformulating the control problem. Different types and combinations of control actuation can be selected for the control design including differential braking and torque vectoring on all or selected wheels as well as active front or rear steering. To develop this model-based reconfigurable control structure, vehicle modeling is provided in a matrix form and an actuator reconfiguration matrix is defined. The proposed structure realizes integrated lateral stability control and slip control in traction/braking. The Model Predictive Control (MPC) approach is used to develop the controller. By employing the reconfigurable structure, optimal control solutions can be achievedwith respect to only available control actuations. Simulation results show that the proposed control structure can facilitate the design of stability control regardless of the actuators configuration.