Adaptive integrated vehicle control using active front steering and rear torque vectoring

This work studies the combination of active front steering with rear torque vectoring actuators in an integrated controller to guarantee vehicle stability/trajectory tracking. Adaptive feedback technique has been used to design the controller. The feedback linearization is applied to cancel the nonlinearities in the input-output dynamics, leading to closed-loop dynamics diffeomorphic to a linear system. Parameter adaptation then is used to robustify the exact cancellation of the nonlinear terms. Some first results are here obtained, showing improved tracking performance when important parameters, like mass, inertia or tire stiffness, are affected by relevant estimation errors.