Handling of zero-crossing problems in the design of variable-geometry suspension control

The electrification of the vehicle drivelines provides a new possibility in the lateral control strategies of the vehicle. Through the independent control of the wheels the steering and driving capability of the vehicle can be improved. Although the enhanced solutions, such as torque vectoring and variable-geometry suspension result in additional functionalities, several new challenges must also be performed. In the paper the handling of the zero-crossing problems in the design of the variable-geometry suspension control is presented. In the algorithm a control rule in a hierarchical structure based on experimental results is formed, which is able to guarantee the trajectory tracking performance of the control system.