Robust Vehicle Dynamic Stability Controller involving steering and braking systems

This paper is concerned with the synthesis of a robust MIMO VDSC (Vehicle Dynamic Stability Controller) using steering and braking actuators which aims at improving automotive vehicle yaw stability and lateral performances. The contribution of this work is to provide a methodology to synthesize such a controller, while taking into account the braking actuator limitations and ensuring ℋ_∞ performance using an LPV controller. The proposed solution is coupled with a local ABS strategy to guarantee slip stability and make the solution complete for implementation issues. Time and frequency simulations on a complex nonlinear full vehicle model, subject to critical driving situations, shows the reliability and robustness of the proposed solution.