Robust yaw motion controller for improving the stability of a plugin hybrid vehicle

This paper researches the yaw dynamics of a plug-in hybrid vehicle with powerful electric machine mounted on the rear shaft. The power split between the front and rear wheels may induce negative effects on the vehicle yaw stability and vehicle handling. Takagi-Sugeno (TS) modeling is used to design a static output feedback to control the yaw dynamics. Simulations using a detailed vehicle model allow illustrating the proposed control law benefits during critical manoeuvres and different driving phases.