Yaw Control via Combined Braking and Steering
Paper in proceedings, 2009

Active yaw stabilization for passenger vehicles, following driver yaw rate commands with steer-by-wire and rear break force distribution, is discussed. The problem is solved via a decomposition of the vehicle equations of motion into a static, scheduled tire characteristics map, and an affine Linear Parameter Varying (LPV) plant. Control is provided via a cascade connection of scheduled inverse tire characteristics and an LPV controller, handling both the nonlinear dynamics an the non-affine tire characteristics. Excellent tracking results are demonstrated with a high fidelity simulation even in the presence of noise and uncertainty.

Uncertain systems

Linear parameter varying systems



Balint Vanek

Balázs Adam Kulcsár

Paolo Falcone

Chalmers, Signals and Systems, Systems and control, Mechatronics

Gary Balas

European Control Conference (ECC), 23-26 August 2009, Budapest, Hungary,


Subject Categories

Vehicle Engineering

Control Engineering



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