Abstract: A nonlinear robust controller for integrated control of active front wheel steering subsystem and direct yaw moment control subsystem was presented based on dissipative theory. Firstly, an integrated vehicle chassis control model including body lateral and yaw motion degrees of freedom was established, and the un-modeled dynamics and the measurement errors both of the model parameters and feedback signals were regarding as the additive and multiplicative uncertainties of the system. Secondly, an integrated vehicle chassis nonlinear L2-gain control law was designed based on dissipative theory to suppress the effect of the additive uncertainties on the system performance, and an adaptive law was designed based on projection correction method to estimate and compensate the multiplicative uncertainties. Thirdly, the sequential quadratic programming method was used to realize the constrained optimal allocation of the corrected yaw moment, which was the output of the proposed integrated vehicle chassis nonlinear L2-gain control law. Finally, the feasibility and effectiveness of the proposed integrated vehicle chassis nonlinear robust controller were verified via vehicle dynamics simulation software. 

Key words: integrated chassis control, nonlinear robust control； dissipative theory； projection correction method； sequential quadratic programming method

摘要： 针对汽车主动前轮转向子系统和直接横摆力矩控制子系统集成控制问题，基于耗散性理论设计了一种非线性鲁棒控制器。将未建模动态、模型参数和反馈信号测量误差作为系统的加性不确定性和乘性不确定性，建立包含车身侧向和横摆运动自由度的汽车底盘集成控制模型；基于耗散性理论设计汽车底盘集成非线性L2增益控制律来抑制系统的加性不确定性对系统性能的影响，并采用投影修正法设计自适应律来实时估计和补偿系统的乘性不确定性；采用逐步二次规划法来实现汽车底盘集成非线性L2增益控制律输出的校正横摆力矩约束优化分配。最后，结合车辆动力学仿真软件对所提出的汽车底盘集成非线性鲁棒控制器的可行性和有效性进行了验证。

关键词: 底盘集成控制, 非线性鲁棒控制, 耗散性理论, 投影修正法, 逐步二次规划法