Robust Velocity Scheduled Yaw Stability Control of a Light Commercial Vehicle

Abstract

This paper is on the design and analysis of a velocity scheduled robust yaw stability controller for a light commercial vehicle. The considered light commercial vehicle is fitted with a proof-of-concept active steering system controlled by a separate generic electronic control unit. Single and double track models of the vehicle are used for controller design and simulation testing, respectively. A robust control method based on mapping frequency domain specifications into a chosen controller parameter plane is used. A toolbox with an interactive graphical user interface designed for this method is adapted for use with the model regulator architecture. The underlying steering control actuator is a velocity scheduled model regulator. The designed controllers are tested for steering model regulation and yaw moment disturbance rejection using maneuvers like double lane change. Details of the experimental vehicle with active steering, built to test the concepts developed in the paper is also presented.