# Integrated Adaptive Steering Stability Control for Ground Vehicle with Actuator Saturations  
[PERSON]  
1 School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China 11 School of Mechanical and  
steering is not involved. Therefore, a nominal roll stability controller that does not consider the effect from steering may not work as desired.  
Several researchers have focused on integrated steering stability control. In [15; 16], the authors employed a linear quadratic regulator and a sliding mode control method to simultaneously control roll and yaw motion, respectively. A nonlinear control law was designed in [17] to follow the desired trajectories of both yaw and roll behaviours. In [18; 19], the authors used model predictive control to simultaneously regulate yaw motion and stabilize roll motion. Similarly, feedback linearization methods have been utilized to solve the coupled yaw-roll motion problem in [20; 21]. Although these techniques can handle integrated steering control remarkably well, actuator saturation has not yet been considered. Generally, the yaw stability control moment is realized by active steering or differential braking. When a ground vehicle steers on a low friction road or with a large yaw rate, the tire-road utilized adhesion force cannot supply enough control energy for its physical limitations, which means that saturation of the actuator effort (the active steering angle or braking force) occurs. Hence, it is important to consider the actuator saturation of yaw control in the development of controller design. Two approaches are available to handle actuator saturation: the first is the one-step approach, in which actuator saturation is taken as a constraint in the controller design process [22; 23]; the other is two-step approach, in which the nominal controller is designed first, than an anti-windup compensator is designed to handle the actuator saturation [24; 25]. Here, we mentions a few approaches: an anti-windup compensator in the form of a filter was designed for an attitude controller in spacecraft under input saturation and measurement uncertainty in [26; 27], an auxiliary anti-windup compensator system was introduced to analyze the effect of the input constraint in a saturated robust adaptive backstepping controller design; finally, in this paper, a two-step approach controller is designed to handle actuator saturation.  
Based on the aforementioned analysis, a steering stability control system integrating yaw, roll, and lateral and have movement behaviours with actuator saturation and vehicle parameter perturbations has not previously been studied simultaneously and thoroughly. Thus, an integrated steering stability controller is developed in this paper, taking into consideration parameter perturbations and saturation of the yaw control effort. The main contributions of this paper are summarized as follows: (i) based on the integrated dynamics model, an integrated adaptive steering stability controller is proposed to stabilize the yaw, roll, heave, and lateral motion simultaneously with parameter perturbations; (ii) the actuator saturation of the yaw moment is considered in the context of integrated controller development; hence, the designed controller can guarantee tracing performance of the yaw rate with less degradation.  
The rest of this paper is organized as follows: we establish the integrated dynamics model and the analysis of the coupling principle in Section 2; then, we describe the design of an integrated steering stability controller considering the actuator saturation of yaw control in Section 3. In Section 4, a numerical simulation is carried out to verify the effectiveness of the designed controller, followed by our conclusions in Section 5.