Tracking control by integrated steering and braking systems using an observer-based estimation

An integrated control structure, which includes an active steering and an active brake system, is proposed for tracking the path of the vehicle. Besides tracking this control also guarantees the prevention of rollovers. The method is based on a Linear Parameter Varying (LPV) model of yaw-roll dynamics. A parameter-dependent LPV controller based on the H∞ method is designed. Since in this model the time-varying adhesion coefficient is unknown, an adaptive observer-based method is proposed for its estimation. Both the estimation and the control system are demonstrated through vehicle simulations.