Cooperative controller of steering/braking stability for vehicles based on multi-agents system
基于agents系统的汽车转向制动稳定协同控制*

This paper proposed a multi-agents coordinated method to study the probability of putting in practice in the vehicle's steering antilock brake stability fields.Firstly,with the blackboard rulers, the steering system and state.It got the desired reference values to realize the vehicle's steering antilock brake stability. These values were adjustable.Secondly,it realized the servo control of the vehicles with active distur-bance rejection control method, and studied on it's application methods to the vehicle's longitudinal and lateral servo-system to track the desired input commands robustly.Finally, validated the stability and the validity of the robust adaptive control algorithm by simulation results.