Coordination control of semi-active suspension and multi-motor torque distribution for anti-roll and anti-pitch performance

Litong Zhang, Taihu Zuo, Congzhi Liu, Baichao Wang, Zhonghua Zhang, Yue Ma, College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing Changan Automobile SOFTWARE Technology Co, LTD and State Key Laboratory of Intelligent Vehicle Safety Technology, National Key Laboratory of Multi-perch Vehicle Driving Systems, Beijing Institute of Technology

Journal of Vibration and Control

Published online on October 21, 2025

Abstract

Journal of Vibration and Control, Ahead of Print.
A new roll angle state observer is proposed based on a 7-degree-of-freedom (7-DOF) suspension model to estimate the vehicle’s roll angle and roll rate. Using the estimated roll angle, the 7-DOF model and H-infinity controller predict roll angle changes, ...