Vehicle control using multiple actuators

A system for controlling a vehicle, comprising:

• a first steering device for generating a first steering force on the vehicle;
• a second steering device for generating a second steering force at the vehicle;
• a processor configured to:
• operate a lateral control module to send a first steering command to the first steering device;
• operate an estimation module to estimate an external lateral force applied to the vehicle based on the first steering command, a second steering command, and a state of the vehicle, wherein the second steering command is applied to the second steering device;
• operate a compensation module to determine an adjusted value of the second steering command for generating a lateral motion at the vehicle to attenuate the external lateral force;
• and
• operate the second steering device of the vehicle based on the adjusted value of the second steering command to generate the second steering force at the vehicle that attenuates the external lateral force.

A vehicle, comprising:

• a front wheel;
• a first steering device for generating a first steering force at the front wheel;
• a second steering device for generating a second steering force at the vehicle;
• a processor configured to:
• operate a lateral control module to send a first steering command to the first steering device;
• operate an estimation module to estimate an external lateral force applied to the vehicle based on the first steering command, a second steering command, and a state of the vehicle, wherein the second steering command is applied to the second steering device;
• operate a compensation module to determine an adjusted value to the second steering command for generating a lateral motion at the vehicle to attenuate the external lateral force;
• and
• operate the second steering device of the vehicle based on the adjusted value to the second steering command to generate the second steering force at the vehicle that attenuates the external lateral force.