Control design based on the integration of steering and suspension systems

The paper proposes an integration of the steering system and a variable-geometry suspension system as part of a driver assistance system. The predefined trajectory required by the driver is followed with a steering command. During maneuvers the control system generates an auxiliary front steering angle and the camber angle of the front wheels according to driver demands in order to improve road stability. Simultaneously, the variable-geometry suspension system is able to modify the camber angle of the wheels in order to improve the half-track change. The design of an integrated control system is based on the robust H_∞ method, which meets the performance specifications and guarantees robustness against model uncertainties. The efficiency of the actuator integration is guaranteed by a reachable set. The operation of the control system is illustrated through a simulation example.