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

This work studies the combination of Active Front Steering (AFS) with Rear Torque Vectoring (RTV) actuators in an integrated controller to guarantee vehicle stability. Adaptive feedback technique has been used to design the controller. The feedback linearisation is applied to cancel the nonlinearities in the input-output dynamics of the vehicle. Parameter adaptation then is used to robustify the exact cancellation of the nonlinear terms. The results show tracking and stabilisation capabilities when important parameters, like tyre stiffness and tyre characteristics, are affected by estimation errors.