Cooperative controller for vehicle steering/antilock braking system
汽车转向/防抱死制动协同控制

A new cooperative control system is proposed to deal with the stability of the vehicle in steering antilock braking. This system is composed of the steering controller and the braking controller. The steering controller includes the yaw moment controller and the sliding-mode robust adaptive con-troller for improving the response, adaptive robustness and stability of vehicles. On the other hand, a new cooperative error is defined and a new cooperative error model of the vehicles is developed; based on this model, a robust adaptive antilock braking control system is designed. To handle the compensation between the steering system and the braking system, a new coupling control strategy of parallel control with error compensation is presented. Finally, the control algorithm is validated by simulation results.