Robust yaw stability control for electric vehicles based on active steering control

In this paper, the robust yaw stability control based on active steering control is proposed for electric vehicles (EVs). A two degree of freedom control method by a disturbance observer is applied to control design for yaw stabilization. Moreover, the feed-forward disturbance compensator is designed to compensate unexpected yaw moment caused by torque differences between left and right driving motors. The model uncertainty including unmodeled high frequency dynamics and parameter variations occurs in the wide range of driving situations. Hence, a robust control design method is applied to controller design for guaranteeing robust stability and performance of the control system. The control performance of the proposed yaw stability control system is verified through computer simulations.