ABSTRACT
ABSTRACT: This paper applies a newly developed controllability region analysis to the evaluation of limit handling performance of chassis control algorithms. In this analysis method, the performance of the control algorithm is evaluated as a size of the controllability region on two dimensional phase plane. The problem to determine the boundary of the controllability region is formulated as an optimal control problem to find the control inputs that maximize the norm of the terminal state of a reverse-time system starting from the origin. With this method, performance of the chassis control algorithm against the chassis control method can be evaluated, where the control method means what input channels are used to control the vehicle motion regardless of what control algorithm is used to generate the control inputs. To demonstrate the usefulness of the controllability region analysis, the performances of a four-wheel steering control algorithm and a direct yaw moment control algorithm are evaluated by comparing the controllability region of the control method and the control algorithm. The results show the performance limit of the control algorithms.
