Improving lateral dynamic of vehicle using direct yaw moment controller by di erential brake torques based on quantitative feedback theory

In this paper, a robust controller based on quantitative feedback theory is designed to improve the lateral dynamic of a four-wheel vehicle using direct yaw moment controller. The essential yaw moment is calculated by this robust and applied to the vehicle dynamics model using a differential brake system, which is allocated by a rule-based controller. Quantitative feedback theory controller design is based on bicycle model which is assumed as a simple linear handling model. Herein, simulations are carried out based on nonlinear handling dynamics. To examine the controller in an almost real environment, CARSIM software is used to face a challenging maneuver. The results show that the robust controller could overcome the system uncertainties and control the vehicle in various handling maneuvers. Meanwhile, the braking torque allocated by differential brake systems is accessible and reliable for a real vehicle.