Robust Control Design of Active Front-Wheel Steering on Low-Adhesion Road Surfaces

In order to improve the stability of vehicle steering on low-adhesion road surfaces, this paper designed a hybrid robust control strategy, H2/H∞, for active front-wheel (AFS) based theory. Firstly, we analyzed influence sidewall stiffness and adhesion coefficient tires stability, through which can study wheel deflection characteristics roads. Secondly, reference yaw velocity was calculated using three-degrees-of-freedom model as model, which, taking norm H∞ objective function H2 limit output, strategy H2/H∞ AFS system surface developed. Finally, simulation experiment carried out by Simulink/CarSim co-simulation platform hardware-in-the-loop (HIL) experiment. paper, results show that handling controller has good path tracking performance robustness.