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Mathematical Problems in Engineering
Volume 2014, Article ID 832864, 15 pages
Research Article

Nonlinear Analysis and Intelligent Control of Integrated Vehicle Dynamics

School of Automobile and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China

Received 24 September 2013; Revised 2 December 2013; Accepted 2 December 2013; Published 21 January 2014

Academic Editor: Hui Zhang

Copyright © 2014 C. Huang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


With increasing and more stringent requirements for advanced vehicle integration, including vehicle dynamics and control, traditional control and optimization strategies may not qualify for many applications. This is because, among other factors, they do not consider the nonlinear characteristics of practical systems. Moreover, the vehicle wheel model has some inadequacies regarding the sideslip angle, road adhesion coefficient, vertical load, and velocity. In this paper, an adaptive neural wheel network is introduced, and the interaction between the lateral and vertical dynamics of the vehicle is analyzed. By means of nonlinear analyses such as the use of a bifurcation diagram and the Lyapunov exponent, the vehicle is shown to exhibit complicated motions with increasing forward speed. Furthermore, electric power steering (EPS) and active suspension system (ASS), which are based on intelligent control, are used to reduce the nonlinear effect, and a negotiation algorithm is designed to manage the interdependences and conflicts among handling stability, driving smoothness, and safety. Further, a rapid control prototype was built using the hardware-in-the-loop simulation platform dSPACE and used to conduct a real vehicle test. The results of the test were consistent with those of the simulation, thereby validating the proposed control.