Ali Tavasoli - Sama Technical and Vocational Training College, Islamic Azad University, Karaj Branch, Karaj,
Mahyar Naraghi - Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran

In this paper, the problem of nonlinear Constrained Optimal Distribution of tire Forces (CODF) in an Integrated Vehicle Dynamics Control (IVDC) system is addressed. The generalized forces/moments, obtained from a high level controller, are distributed among tire forces, which are constrained to nonlinear constraint of saturation, through Dynamic Control Allocation (DCA) approach. The DCA technique is utilized to derive an update law for desired forces of each tire. By applying the considered method to a nonlinear vehicle model the effectiveness of the proposed method in enhancing vehicle handling and stability is investigated by comparing it to the related works in literature.

Integrated Vehicle Dynamics Control,Active Safety System, Dynamic Control Allocation