The integrated controller of the steering /braking stability for the vehicles

Firstly, with the blackboard rulers the steering system and wheels get their coordinated control tasks based on their own states and the vehicle´s state. It can adjust desired commands and control paraments of the servo controllers to realize the vehicle´s steering antilock brake stability. The force distribution strategy suitable for complex conditions is designed. Secondly, it realizes the servo control of the vehicles with the optimum slide mode control method, and studies on it´s application methods to the vehicle´s longitudinal and lateral servo-system to track the desired input commands robustly. Finally, the validity of the robust adaptive control algorithm are validated by simulation results.