Model regulator based individual wheel braking control

Abstract

Yaw stability control systems are important components of active safety systems for road transport. A model regulator based yaw stability control system that was previously implemented and tested very successfully as a steering controller is adapted to work as an individual wheel braking controller in this paper. A two track nonlinear vehicle model is used to test the individual wheel braking actuated model regulator developed here. Simulation results are used to demonstrate the achievement of good yaw disturbance moment rejection by the proposed controller.