The optimum cooperative controller of the steering/anti-lock braking system of the vehicle using the coordination model

In this paper,a new cooperative control system is proposed for the vehicle´s steering antilock braking stability fields.The cooperative control architecture is composed with the steering controller and the braking controller. Based on the yaw moment and the front wheel angle controllers,the vehicle steering controller is designed to improve the respond and stability of the vehicle.On the same time,the anti-lock brake control system is designed. To reduce the difficulty in determining the compensation control law of commonly used cross the steering system and the braking system, a new cooperative error is defined firstly and a new cooperative error model of the vehicles is developed.Then a new practical cooperative control law based on the system stability and the optimal index is devised. It is quite feasible because of its analytical form.The brake force distribution policy applicable to the complex work condition is presented .Finally,the stability and the validity of the control algorithm is validated by simulation results.