Yaw Control via Combined Braking and Steering

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