Mir Nima Haji Babazadeh - Bachelor of Mechanics, Azad University, Urmia branch. Urmia, Iran
Hamed Reshadatjoo - PhD in Mechanical Engineering - Energy Protection, Engineering and Faculty of computer and Advanced Technologies, Urmia Branch, Islamic Azad University, Urmia, Iran
Hamed Afshari - Department of Mechanical and Bio Mechanical Engineering, Urmia Branch, Islamic Azad University, Urmia, Iran
Shahram Khalilarya - Faculty of Mechanical Engineering, Urmia University, Urmia, Iran

In addition to lateral instability, one of the major threats to passenger cars, especially long-wheelbase vehicles, is the risk of overturning. In this paper, a coordination strategy based on adaptive control is designed for the integrated operation of active steering, differential, brake and anti-roll bars. Separate analyzes have been performed on each of the subsystems independently as well as their synergistic effect. This coordination strategy tries to eliminate the interference between the subsystems and their control objectives, which are: tracking the rotation rate, lateral acceleration and rolling motion of the vehicle, as much as possible, while maintaining the desired longitudinal acceleration of the driver, and to establish compromises between them. Examining the performance of this strategy in the absence of active differential has also yielded successful results. Lateral slip angle and rotation rate are considered as indicators of lateral stability and rolling angle, rolling rate and lateral weight transfer are considered as indicators of rolling stability. The simulation results on a ten degree of freedom model built in Simulink software show that the performance of the integrated system is improved compared to the independent performance of each subsystem and the rolling stability is maintained along with the lateral stability.

car suspension, robust control, indefinite suspension, Integrated control