Selection of Actuator Combination in Integrated Chassis Control Using Taguchi Method

  • Seongjin Yim


This paper presents a method to select the actuator combination in integrated chassis control using Taguchi method. Electronic stability control (ESC), active front and rear steering (AFS/ARS) are used as an actuator, which is needed to generate a control tire force. After computing the control yaw moment in the upper-level controller, it is distributed into the control tire forces, generated by ESC, AFS and ARS in the lower-level controller. In this paper, the weighted pseudo-inverse control allocation (WPCA) with variable weights is used to determine the control tire forces of each actuator. Taguchi method is adopted for sensitivity analysis on variable weights of WPCA in terms of the control performances such as the maneuverability and the lateral stability. For sensitivity analysis, simulation is performed on a vehicle simulation package, CarSim. From sensitivity analysis, the most effective actuator combination is selected.

Key Words

Integrated chassis control Taguchi method Electronic stability control Active front steering Active rear steering Weighted pseudo-inverse control allocation 


Cf, Cr

cornering stiffness of front/rear tires (N/rad)

Fx, Fy, Fz

longitudinal/lateral/vertical tire forces (N)

Fyf, Fyr

lateral tire forces of front/rear wheels (N)


effectiveness matrix


yaw moment of inertial (kg·m2)


objective functions of WPCA


gain in sliding mode control


pressure-force constant (N·m/MPa)

lf, lr

distance from C.G. to front/rear axles (m)


vehicle total mass (kg)


noise factor


brake pressure (MPa)


radius of a wheel (m)


sliding surface

2tf, 2tr

front/rear track widths (m)

vx, vy

longitudinal/lateral velocities of a vehicle (m/s)


weighting matrix in WPCA


vector of the control tire forces

αf, αr

tire slip angle of front/rear wheels (rad)


side-slip angle (rad)


front steering angle (rad)


corrective steering angle by AFS (rad)


rear steering angle by ARS (rad)


variable weights of WPCA and control factors


longitudinal tire force by ESC (N)


lateral tire force by AFS (N)


lateral tire force by ARS (N)


control yaw moment

γ, γd

reference and real yaw rates (rad/s)


tuning parameter on side-slip angle


tire-road friction coefficient


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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Mechanical and Automotive EngineeringSeoul National University of Science and TechnologySeoulKorea

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