ABSTRACT
ABSTRACT: This article presents the vehicle dynamics controller (VDC) developed for the ROboMObil, an over-actuated electric vehicle prototype built by DLR. The main goal of the VDC is to simultaneously control the vehicle’s yaw-rate and chassis side-slip angle. This goal is achieved by incorporating in the VDC a combination of feedforward control action and a feedback controller reliant on the disturbance observer framework. To assist us in the synthesis of the feedback controller, the parameter space approach is employed. This approach enables us to address several control specifications in the synthesis process, such as robustness to parametric (e.g., tyre-road friction coefficient) and non-parametric uncertainties, disturbance rejection and pole region assignment. Several experimental tests, involving mu-split braking and double lane change manoeuvres, are carried out to demonstrate the effectiveness of the proposed VDC.
