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Robust Yaw-Moment Control Based on Brake Switching for the Enhancement of Vehicle Performance and Stability
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 Title & Authors
Robust Yaw-Moment Control Based on Brake Switching for the Enhancement of Vehicle Performance and Stability
Ahn, Woo-Sung; Park, Jong-Hyeon;
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This paper proposes a new yaw moment control scheme using brake torque switching for improving vehicle performance and stability especially in high speed driving. In the scheme, one wheel is selected, depending on the vehicle states, at which a brake torque for control is applied. Steering angles are modeled as a disturbance to the system and the controller is designed to minimize the difference between the performance of the vehicle and that of the desired model. Its performance robustness as well as stability robustness to system parameter variations is assured through -analysis. Various simulations with a nonlinear 8-DOF vehicle model show that proposed controller enhances the vehicle performance and stability under disturbances and parameter variations as well as under the normal driving condition.
control;Yaw Moment Control;Yaw Rate;Side Slip Angle;-Analysis;Switching Control Scheme;Vehicle Stability;
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외란 관측기를 이용한 견실한 차량 안정성 제어,한진오;이경수;강수준;이교일;

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