Robust Yaw Moment Control for Vehicle Handling and Stability Improvement
This paper presents a robust yaw moment controller design approach for improving vehicle handling and stability. With considering the parameter-varying property of tyre cornering stiffness in extreme handling situations, a linear parameter-varying (LPV) model in polytopic form is constructed to represent the nonlinear characteristics of tyres. A yaw moment controller is then designed for the LPV model which aims at optimising the tracking performance on both yaw rate and sideslip angle with respect to their targets. The conditions for designing such a controller are derived in terms of linear matrix inequalities (LMIs). Numerical simulations on a nonlinear vehicle model are performed to validate the effectiveness of the proposed approach. The results show that the designed controller can improve vehicle handling and stability regardless of varying road surface.
vehicle handling yaw moment control cornering stiffness nonlinear tyre model
Haiping Du Nong Zhang
School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, NSW 252 State Key Laboratory for Advanced Vehicle Body Design and Manufacturing, Hunan University, China Mec
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
4238-4243
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）