On the Design of Front-To-Total Anti-roll Moment Distribution Controllers for Enhancing the Cornering Response

In the last three decades a relatively wide literature has discussed the potential vehicle dynamics benefits of the control of the front-to-total anti-roll moment distribution generated by active suspension systems, either based on actuators located within the individual corners or controllable anti-roll bars. However, because of the nonlinearity of the involved phenomena, there is a lack of systematic model based design routines to achieve the reference cornering response in steady-state and transient conditions through active suspension controllers, and for the integration of suspension control with direct yaw moment control. This paper targets such knowledge gap, by introducing design tools for front-to-total anti-roll moment distribution control, based on: i) optimizations using a quasistatic model for the computation of the non-linear feedforward contribution of the controller; ii) a novel linearized vehicle model formulation for linear control design in the frequency domain; and iii) a nonlinear vehicle model formulation to be used as prediction model for nonlinear model predictive control. A set of simulation and experimental results shows the benefits in terms of: a) understeer gradient tunability; b) increased maximum achievable lateral acceleration; c) increased yaw and sideslip damping; and d) energy consumption reduction.