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Robust Yaw Stability Controller Design and Hardware-in-the-Loop Testing for a Road Vehicle

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3 Author(s)
Bilin Aksun Guvenc ; Dept. of Mech. Eng., Istanbul Tech. Univ., Istanbul ; Levent Guvenc ; SertaÇ Karaman

Unsymmetrical loading on a car like mu-split braking, side wind forces, or unilateral loss of tire pressure results in unexpected yaw disturbances that require yaw stabilization either by the driver or by an automatic driver-assist system. The use of two-degrees-of-freedom control architecture known as the model regulator is investigated here as a robust steering controller for such yaw stabilization tasks in a driver-assist system. The yaw stability-enhancing steering controller is designed in the parameter space to satisfy a frequency-domain mixed sensitivity constraint. To evaluate the resulting controller design, a real-time hardware-in-the-loop simulator is developed. Steering tests with and without the controller in this hardware-in-the-loop setup allow the driver to see the effect of the proposed controller to improve vehicle-handling quality. The hardware-in-the-loop simulation setup can also be used for real-time driver-in-the-loop simulation of other vehicle control systems.

Published in:

IEEE Transactions on Vehicular Technology  (Volume:58 ,  Issue: 2 )