Nonlinear Coordinated Motion Control of Road Vehicles After a Tire Blowout


For the trail-following and safety problem of road vehicles after a tire blowout, a nonlinear coordinated motion controller is proposed within the framework of the triple-step method that doubtless benefits the engineering-oriented implementation. A management optimization strategy for coordinating both steering and braking is developed to reinforce the control performance and accommodate the constraints. Since solely the primary impacts of the flat tire are taken into consideration within the vehicle dynamics model used for controller design, an improved strong style procedure is proposed in the framework of input-to-state stability theory to counteract the model uncertainties. The proposed coordinated controller is evaluated along with steering-alone controller and braking-alone controller, and the comparative results for different tire blow-out situations are analyzed. The results and analyses clearly show the effectiveness and benefits of the proposed approach.

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