The Nonlinear Robust Coordinated Control of the Steering/Anti-Lock Braking System of the Vehicles

A new nonlinear robust coordinated control system is proposed for the cooperative control of the vehicle's steering and anti-lock braking systems. The control architecture is composed of the steering controller and the braking controller. To improve the robustness and the coordination of the whole system, a nonlinear robust coordinated controller based on Hamilton function method is designed according to the nonlinear comprehensive model of the vehicle steering and braking. The dissipative Hamilton realization of this controller is obtained by a state pre-feedback technique. A brake force distribution policy applicable to the complex work condition is presented. The stability and the validity of the control algorithm are validated by simulation results.