Coordination Control of Multi-Axis Steering and Active Suspension System for High-Mobility Emergency Rescue Vehicles

This study proposes a coordinated control strategy to solve the coupling problem between multi-axle steering system and active suspension of emergency rescue vehicles. Firstly, an eleven-degree-of-freedom model vehicle is established. Secondly, dual sliding mode (DSM) controller designed for linear quadratic regulator (DLQR) system. Finally, designed, weight values are selected using fuzzy algorithm. Results show that compared with individual control, root mean square (RMS) value body roll angle, angle acceleration, yaw acceleration reduced by 16.89%, 29.08%, 27.75%, respectively. The proposed effectively improves handling stability ride comfort vehicle.