Sajjad Aghasizade - Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran
Mehdi Mirzaei - Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran

In this paper, a decentralized integrated control structure is developed based on a quarter car vehicle model including longitudinal and vertical dynamics. In this structure, the anti-lock braking system (ABS) is designed to decrease the stopping distanceby regulating the longitudinal slip for improved safety during hard braking while the active suspension system (ASS) decreases the sprung mass acceleration to improve the ride comfort on irregularroads. During hard braking, it is preferred for conventional ASS to control the variations of tire deflection to improve the braking performance. However, in a new strategy, it is shown that if the ABScontroller follows the optimal longitudinal slip varied with the vehicle speed and tire normal force instead of a constant value, the dependency of ASS and ABS is decreased. In this way, the ABSperformance has high quality performance even in the presence of passive suspension. Application of ASS causes more reduction in the body vibration to provide more ride comfort during braking. As a conclusion, when the ASS is integrated with the proposed strategy of ABS, the overall ride and safety performances are simultaneously improved during hard braking on a good road spectrum

Active suspension system,Anti-lock braking system,Integrated vehicle control,Optimal control,Prediction