Hierarchical approach for Global Chassis Control

This paper deals with the vehicle dynamics control and focuses on an illustrative example of an hierarchical approach for Global Chassis Control (GCC). This example, dealing with Global Suspension Control and especially with body control under driver solicitation in turns at a constant velocity enables the implementation of this hierarchical approach, composed of four levels (Supervisor, Global Control, Control Allocation and Local Control), improving the safety and the comfort of the passengers. Moreover, a comparison between two robust Local controller, a second generation CRONE and an H controller, designed with the same constraints, and whose performances are juxtaposed to those of the degraded operation mode of the active system (failure of the control), is presented. Results of the simultations using a 14 degrees-of-freedom (do-f) full vehicle model show a better body control using the hierarchical approach but comparable performances between the two robust controllers in the comfort operating domain.