Gain-scheduling yaw moment control for vehicle lateral stability under network-induced delay

This paper investigates an H_∞ gain-scheduling controller designed method based on the direct yaw moment control (DY C) for the good perform of vehicle maneuverability and lateral stabilization. To make the designed controller more practical, both the network-induced delay and time-varying longitudinal velocity are considered. For reducing the conservativeness, an improved polytope structure with finite vertex is adopted to depict the velocity-dependent auxiliary parameters. Based on the designed DY C controller, the vehicle driving safety and maneuverability are enhanced, the H_∞ performance of vehicle lateral dynamic system under different operations is satisfied. Several simulations are presented to verify the validity of the designed controller.