Men Jinlai*, Wu Bofu and Chen Jie
The Journal of Mechanical Science and Technology, vol. 25, no. 5, pp.1265-1277, 2011

Abstract : The paper proposes a multi-input-multi-output internal model control (MIMO IMC) based on combined brake and front wheel active steering (Brake-FAS) for vehicle stability control and makes comparisons with the four wheel steering internal model control (4WS IMC). Brake control would change vehicle velocity which will make the vehicle control model nonlinear. To solve the nonlinearity involved in the Brake-FAS, an inverse system method is introduced to turn the nonlinear internal vehicle model into a pseudo-linear system, and then the design of main IMC controller and related filters is discussed in details. Comparisons of the Brake-FAS IMC and 4WS IMC were done on the basis of simulations which were composed of different combinations of driving maneuvers and road conditions in Simulink where an 11DOF vehicle model verified by CarSim7 was built.

Keyword : Brake-FAS; 4WS IMC; Inverse system; Pseudo-linear system