Feedforward Integrated Control of RWS and DYC for Vehicle Handling Performance Considering Nonlinear Tyre Forces and Actuators’ Limitations

Although the handling performance enhancement based on the integrated control of RWS and DYC has been extensively studied, few studies have considered both the actuators’ limitations and characteristics and the nonlinearity of vehicle dynamics. To address this problem, this paper proposed a feedforward controller based on nonlinear state regulators and actuators’ limitations. The nonlinear state regulator is constructed using the inverse function theorem and can control some states of the nonlinear system as desired. The proposed controller links a regulator that calculates rear steer angle, the rear steer system’s limitations, and a regulator that calculates direct yaw torque into a series. The proposed controller outputs rear steer angle with low frequency and direct yaw torque with high frequency, satisfying their respective characteristics.