Optimal distribution of braking and steering tire forces subject to stability constraints

This paper presents an integrated vehicle dynamics control which managesto coordinate steering and braking subsystems using optimal distribution of tire forces(odf). specically, we introduce an odf scheme, which treats the standard stabilityconditions of the phase-plane as inequality constraints in the optimization problem. theestablished scheme works to fulll the objectives of a higher-level controller, as much aspossible, without violating vehicle dynamics stability conditions. a sliding mode enhancedadaptive high-level control assesses the desired total yaw moment and lateral force forvehicle control. the proposed controller only requires online adaptation of control gainswithout acquiring the knowledge of upper bounds on system uncertainties. an optimizationproblem incorporating six inequality constraints is solved analytically by karush-kuhn-tucker (kkt) conditions. to coordinate braking and steering subsystems, a phaseplanebased adaptation mechanism is suggested to adjust the weighting coecients in theconsidered cost function. the simulation cases show that vehicle stability can be improvedeectively by the suggested scheme