Integrated vehicle yaw stability controller design based on Lyapunov method

In order to improve vehicle lateral stability and handling stability, a novel integrated vehicle yaw stability control scheme is proposed in this manuscript which considers front steering wheel angle and additional yaw moment as control variables. The reference yaw rate is firstly determined according to Lyapunov´s second law which is determined by keeping sideslip angle within a stable range. In the following, considering mechanical security constrains, nonlinear model predictive control (NMPC) algorithm is utilized to make vehicle yaw rate follow the reference value. Finally, the performance of the proposed integrated controller is evaluated in critical vehicle running conditions, and the simulation results indicate that the proposed method is able to maintain vehicle lateral stability perfectly.