Design of robust compensating controller for lateral motion of the vehicle

Abstract EN

In this paper, robust compensating controller is proposed to control the lateral velocity and yaw rate of the vehicle during turning.

This controller uses the errors of the lateral velocity and yaw rate as input and the front steering angle and differential brake force as output.

A vehicle model of dynamic lateral motion is heavily influenced by vehicle parameters such as vehicle speed, vehicle mass and road-tire interaction.

These vehicle parameters vary during operation; therefore variations of parameters are taken into considering in controller design.

The compensators of the controller become function to variations of vehicle parameters to improve the dynamic responses of lateral velocity and yaw rate.

The simulation results of the proposed controller with lag brake and front steering models give acceptable responses through reaching to the desired conditions with short transient period and steady state error is equal to zero for different cases.