Anti-roll moment distribution active suspension

A system for controlling a suspension of a vehicle, comprising:

• a plurality of sensors, wherein each sensor of the plurality of sensors is configured to measure an operating parameter of the vehicle;
• an anti-roll moment module configured to determine a front-to-total anti-roll moment distribution based on at least a first operating parameter of the vehicle measured by a first sensor of the plurality of sensors;
• at least one suspension actuator;
• and
• a suspension control module configured to control the at least one suspension actuator based on the determined front-to-total anti-roll moment distribution, wherein
• the anti-roll moment module includes a feedforward module configured to determine a feedforward contribution based on at least the first operating parameter of the vehicle, and
• the front-to-total anti-roll moment distribution is based on the determined feedforward contribution, wherein
• the feedforward module includes a first look-up table,
• the first look-up table includes a first plurality of entries,
• each entry of the first plurality of entries includes a feedforward contribution value based on a non-linear quasi-static model of the vehicle, and
• the feedforward module is further configured to (i) select a first entry of the first plurality of entries of the first look-up table based on the first operating parameter and (ii) determine the feedforward contribution based on the first entry of the first plurality of entries, wherein:
• the anti-roll moment module includes a yaw rate module configured to determine a reference yaw rate based on at least the first operating parameter of the vehicle, and
• the front-to-total anti-roll moment distribution is based on the determined reference yaw rate, wherein
• the yaw rate module includes a second look-up table,
• the second look-up table includes a second plurality of entries,
• each entry of the second plurality of entries includes a reference yaw rate value based on the non-linear quasi-static model of the vehicle, and
• the yaw rate module further is configured to (i) select a first entry of the second plurality of entries of the second look-up table and (ii) determine the reference yaw rate based on the first entry of the second plurality of entries,
• the anti-roll moment module including:
• an error module configured to determine a yaw rate error based on (i) the reference yaw rate and (ii) a second operating parameter of the vehicle measured by a second sensor of the plurality of sensors, and
• a feedback module configured to determine a feedback contribution based on the yaw rate error,
• the second operating parameter is a yaw rate of the vehicle, and
• the feedback module is configured to determine the feedback contribution by applying a correction to the yaw rate error based on proportional, integral, and derivative terms.