An observer and an integrated braking/traction and steering control for a cornering vehicle

This paper presents an observer of the lateral velocity and an integrated control combining steering and braking/traction in order to improve vehicle dynamics performance and stability. The control is a multivariable regulation of the yaw rate, the longitudinal and lateral velocities. Standard specifications on vehicle dynamics are shown to be met by the proposed controller. The results are illustrated by means of simulations which use a quite complete nonlinear vehicle dynamics model.