Design of a variable-geometry suspension system to enhance road stability

The paper proposes the design of a variable-geometry suspension system, which affects both steering by generating additional steering angle and wheel tilting by modifying the camber angle. The control system must guarantee various performances such as trajectory tracking, the reduction of the chassis roll angle and the minimization of half-track change. The control design is based on a two-step procedure. The performance specifications are met by a high-level control, in which the control input is a required signal. In the low-level control the actuator must track this signal by adjusting its current signal. The advantage of this modular design is that the actuator level does not affect the design of a highlevel control. The operation of the designed control system is illustrated through a simulation example.