LPV-Based Integrated Vehicle Control Design Considering the Nonlinear Characteristics of the Tire

The paper develops the design of an integrated vehicle control which provides the coordination of both the steering and the brake control and the priority in their activations for lateral vehicle dynamics. The control design is based on the LPV (Linear Parameter Varying) method, in which the results of the analysis, which based on the invariant set and carried out by the SOS (Sum-of-Squares) method, are exploited. In both the modeling and the control design the polynomial form of the nonlinear characteristics of the tire is considered. The proposed method guarantees performances by using two coordinated control systems in critical maneuvers, which is illustrated through a simulation example.