Robust stabilization of the vehicle dynamics by gain-scheduled H/sub /spl infin// control

Controller synthesis for protecting the vehicle from spin is described as a robust stabilization problem against perturbations of rear cornering force. The controller is designed by gain-scheduled H/sub /spl infin// control theory so that the closed-loop system satisfies an H/sub /spl infin// norm condition guaranteeing the stability of the vehicle. The controller adjusts the braking force distribution to the right and the left wheels. The result has been tested by executing an experiment. The experimental results showed that the designed controller can robustly stabilize the vehicle and protects it from spin in the presence of large perturbations of rear cornering force.