In this paper, a hierarchical input-output decoupling controller is proposed to simultaneously prevent vehicle rollover and keep the input-output stability of vehicle planar motion. A four-degree-of-freedom nonlinear vehicle dynamics model with four-wheel steering (4WS) and four in-wheel motors (4IWMs) is first developed. Then, in the high-level control design, the roll dynamics is decoupled from the planar motion using the general longitudinal and lateral forces. The decoupled roll dynamics is proved to perform as a linear system with an exponentially stable equilibrium. Moreover, the general yaw moment is also determined in the high-level control through the input-output stability analysis for tracking a yaw rate reference. In the low-level control design, the active 4WS control and direct yaw moment control are applied through a control allocation method to satisfy and distribute the virtual control obtained from the high-level control. Demonstrated by co-simulations integrating with CarSim® and MATLAB/Simulink®, the proposed hierarchical input-output decoupling control can successfully prevent the impending rollover and stabilize the vehicle planar motion.

This content is only available via PDF.
You do not currently have access to this content.