The cooperative controller of the steering system and anti-lock braking system of the vehicle

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 was designed to improve the respond and stability of the vehicle. Besides, the anti-lock brake control system was designed. To reduce the complexity of control structure and the difficulty in determining the compensation control law of commonly used cross the steering system and the braking system, a new cooperative error and a new coupling control strategy based on the thought of the parallel control with error compensation were presented. Finally, the stability and the validity of the control algorithm are validated by simulation results.