This paper presents an integrated nonlinear robust adaptive controller with uncertainty observer for active front wheel steering system and direct yaw moment control system. First, an integrated vehicle chassis control model is established as the nominal model with the additive and multiplicative uncertainties of the system. Secondly, an integrated nonlinear robust adaptive control law with the additive uncertainty observer is designed via Lyapunov stability theory to calculate the corrective yaw moment, and an adaptive law is designed based on projection correction method to online estimate and compensate the multiplicative uncertainty of the system. Then, the constrained optimal allocation problem of the corrective yaw moment is transformed into the nonlinear optimization problem, and the sequential quadratic programming method is used to solve the nonlinear optimization problem to coordinate active front wheel steering system and direct yaw moment control system. Finally, the performance of the proposed integrated nonlinear robust adaptive controller is verified via vehicle dynamics simulation software.

中文翻译：

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具有不确定性观测器的主动前转向和直接横摆力矩控制系统的集成非线性鲁棒自适应控制

本文针对主动前轮转向系统和直接横摆力矩控制系统提出了一种带有不确定性观测器的集成非线性鲁棒自适应控制器。首先，建立一个集成的车辆底盘控制模型作为具有系统加性和乘性不确定性的标称模型。其次，利用李雅普诺夫稳定性理论设计了一种带有加性不确定性观测器的集成非线性鲁棒自适应控制律来计算修正偏航力矩，并基于投影校正方法设计了一种自适应律来在线估计和补偿系统的乘性不确定性。然后，将修正偏航力矩的约束优化分配问题转化为非线性优化问题，采用序贯二次规划法求解非线性优化问题，协调主动前轮转向系统和直接横摆力矩控制系统。最后，通过车辆动力学仿真软件验证了所提出的集成非线性鲁棒自适应控制器的性能。