Abstract:

Eight degrees of freedom vehicle model contains many control variables, it is difficult to directly analyze and control. Based on the eight degrees of freedom vehicle model, a model decomposition method is proposed, which decomposes the original model into three parts. Every part includes less control variables. It is easy to design a controller for each part. Considering the roll angle and the roll angular speed of the decomposed model, the linear quadratic optimal control method is introduced to design the optimal state controller, which can achieve vehicle's stability control. It is proved that the designed controller shows more excellent control effect.

Key words: control theory, vehicle stability control, model decomposition, linear quadratic optimal control