Enhancement of vehicle stability based on variable geometry suspension and robust LPV control

The paper focuses on the enhancement of vehicle stability using a variable geometry suspension system. The purpose is to follow a predefined trajectory on the road required by the driver. The designed driver assistance system supports the driver in performing the various vehicle maneuvers, such as cornering and overtaking. While the driver performs a maneuver by using the steering wheel, an autonomous control system influences the camber angles of the rear wheels by using a variable geometry suspension system. The control design is based on robust LPV methods, which meet the performance specifications and guarantee robustness against model uncertainties. The operation of the control system is illustrated through different vehicle maneuvers.