Yaw Stability Control Design Through a Mixed-Sensitivity Approach

Abstract

Abstract-In this paper, a vehicle dynamic control (VDC) system for tracking the desired vehicle behavior is developed. A 2-DOF control structure is proposed to prevent vehicle skidding during critical maneuvers through the application of differential braking between the right and left wheels in order to control yaw motion. The feedforward filter is a reference generator which computes the desired yaw rate on the basis of the steering angle, while the feedback controller is designed to track the reference as close as possible and to satisfy suitable loop robustness requirements. Mixedsensitivity minimization techniques are exploited in order to design the loop controller. The performance of the control system is evaluated through the hardware-in-the-loop simulation system under both emergency maneuvers and noncritical driving conditions, i.e., when the VDC system is not supposed to intervene.Index Terms-Hardware-in-the-loop (HIL) simulation, robust control, vehicle dynamic control (VDC), vehicle lateral stability, yaw moment control.

A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

“…Another nonlinear vehicle model used in the previous research is 8 DOF vehicle model that is extensively used in [4,5,[9][10][11][15][16][17][18]. For more accurate simulation and validation, the 14 DOF vehicle model is used in [1,19,20].…”

“…For control design and analysis of AFS control, the linear state state space model as described in (16) is used. Noted that this equation is similar to equation (12) but the front wheel steer angle, = + :…”

“…From the literature, various control strategies have been explored and utilized based on particular algorithm for active yaw stability control such as classical PID controller in [1], LMI based and static state feedback control in [2,8,33], ∞ control theory in [4,13,25], sliding mode control (SMC) in [1,7,23,24,35,38,53], optimal guaranteed cost coordination controller (OGCC) in [10], adaptive based control in [11], mixed-sensitivity minimization control techniques in [16], classical controllers PI in [49,60], internal model control (IMC) in [37], quantitative feedback theory (QFT) in [45], and -synthesis control in [48]. Besides that, a combination or integration of different two control schemes to ensure the robustness of yaw stability control has been explored such as SMC and backstepping method in [3], SMC and Fuzzy Logic Control in [12], and LQR with SMC in [17].…”

“…As reported in [3], yaw stability control that consists of tire force observer and cascade controller that is based on sliding mode and backstepping control method is designed. To solve the external disturbance as discussed in [16], the robustness of mixed-sensitivity yaw stability controller is guaranteed for external crosswind and emergency manoeuvres. To cater the uncertainty from longitudinal tire force, the controller for wheel slip control is designed using SMC algorithm for vehicle stability enhancement [17].…”

“…Critical driving manoeuvres are also another efficient way to test the yaw and lateral stability performances. A step steer manoeuvre can be implemented to evaluate the steady state and transient behavioural response of the vehicle as conducted in [16,53,55,63]. Similarly, the constant speed J-turn manoeuvre is also conducted for such purpose as reported in [5,8,9,15,30,33,45].…”