Active control of vehicle attitude with roll dynamics

In this work an integrated attitude control of a vehicle is designed. The actuators considered are the active front steering, the rear torque vectoring, and the semi-active suspensions. We design also an algorithm for the saturation management. The resulting controller is hybrid. In nominal conditions, when saturation conditions do not occur, a feedback guarantees exponential tracking of the reference trajectories. In critical conditions, a hybrid feedback law assigns higher priority to some states to improve the tracking. It is shown that the saturation management improves the controller performance. Some simulations results are provided, showing the performance of the proposed controller. © 2011 IFAC.