Design of a robust yaw stability controller for commercial vehicles with parameter sensitivity reduction and stochastic root locus

This paper describes a robust yaw stability control for commercial vehicles. In the case of commercial vehicles, parameter variations are relatively large, compared to those of passenger vehicles, due to large variations of load conditions. A feasible parameter variation region can be constructed by Monte Carlo method. The parameter variations in commercial vehicles can cause performance deterioration of a yaw stability controller, designed with nominal parameters. To guarantee the robust performance for a yaw stability controller against parameter variations, it is necessary to design a robust one. To design a robust yaw stability controller, the methods of stochastic root locus and parameter sensitivity reduction are adopted. Computer simulation study was conducted to evaluate the proposed controller. From simulation study, it is shown that the proposed robust yaw stability controller is effective against parameter variations in commercial vehicles.