Steer-by-wire Suspension and Steering Design for Controllability and Observability

With steer-by-wire, suspension and steering systems are no longer governed by purely mechanical criteria but must instead be designed according to mechatronic considerations. This paper demonstrates an approach to steer-bywire suspension design in which geometric design variables are chosen to render the tire reaction torque about the steer axis highly predictable. This predictability, in turn, clarifies the connection between the vehicle dynamics and steering dynamics, enabling full state observer and controller design. Copyright c ©2005 IFAC