Integrated hierarchical control strategy of active suspension and differential assisted steering system for electric-wheel vehicle

In order to solve the performance decrease of riding comfort and handling stability caused by the increase of unsprung mass for the electricwheel vehicle, an integrated hierarchical control strategy is proposed based on differential assisted steering system (DASS) and active suspension system (ASS). Here, the upper controller is designed to coordinate the overall control strategy and determine the control weight of the two subsystems by the fuzzy control algorithm. Afterwards, for the lower controllers, the linear quadratic optimal algorithm is taken in the differential steering system to determine the additional yaw moment, and the active disturbance rejection control is used in the active suspension system to suppress body vibration and improve riding comfort. The simulation results show that the proposed hierarchical control can effectively improve the riding comfort and handling stability of the electricwheel vehicle.