Sharif University of Technology Scientia Iranica 1026-3098 20 6 2013 12 01 Optimal distribution ofbraking and steering tire forces subject to stabilityconstraints Optimal distribution ofbraking and steering tire forces subject to stabilityconstraints 1709 1719 3413 EN Ali Tavasoli Department of Mechanical Engineering, Amirkabir University of Technology, 424 Hafez Avenue, Tehran 15914, Iran Mahyar Naraghi Department of Mechanical Engineering, Amirkabir University of Technology, 424 Hafez Avenue, Tehran 15914, Iran Journal Article 2013 08 05 This paper presents an integrated vehicle dynamics control which managesto coordinatesteering and braking subsystems using optimal distribution of tire forces (ODF). Specifically,we introduce an ODF scheme which treats thestandard stability conditions of the phase-plane as inequality constraints in the optimization problem. The established scheme works to fulfill the objectives of a higher-level controller as much as possible without violating vehicle dynamics stability conditions. A sliding mode enhanced adaptive high-level control assesses the desired total yaw moment and lateral force for the vehicle control. The proposed controller only requires the online adaptation of control gains without acquiring the knowledge of upper bounds on system uncertainties. An optimization problem incorporating six inequality constraints is solved analytically by Karush-Kuhn-Tucker (KKT) conditions. To coordinate braking and steering subsystems, a phase-plane based adaptation mechanism is suggestedto adjust the weighting coefficients in the considered cost function. The simulation cases show that the vehicle stability can be improved effectively by the suggested scheme https://scientiairanica.sharif.edu/article_3413_4fb9704290fd77b60746b75b6da0dcc6.pdf