Hierarchical MIMO Decoupling Control for Vehicle Roll and Planar Motions With Control Allocation

Although many methods of ground vehicle dynamics control have been widely studied, their robustness against undesirable oscillatory coupling behaviors of planar and roll dynamics is not fully explored. To address this issue, a hierarchical multiple-input-multiple-output (MIMO) decoupling controller is proposed in this study. Based on the hierarchical control configuration, the coupled vehicle roll and planar dynamics are resolved in the high-level control, and a control allocation is utilized for tracking control in the low-level control. The decoupled internal dynamics and nominal stability are then analyzed and proved. Moreover, by using the vehicle yaw rate and load transfer ratio, a control trigger with dynamic weighting is designed to guarantee the feasibility of the MIMO decoupling control and smooth control efforts. Through the co-simulation between CarSim and MATLAB/Simulink, the feasibility and effectiveness of the proposed controller are verified.