Abstract
A simple robust yaw controller for the nonlinear single-track model is designed, making use of active differential and active roll control systems. Robustness is studied for uncertainties in several model parameters, namely the vehicle longitudinal velocity, the road adherence coefficients and the hand wheel angle. Constructive nonlinear dynamics are employed for the controller design. The controller parameters are selected by solving an optimization problem. Stability of the solution is guaranteed by constraints that ensure a minimal distance between the nominal operating point and a stability boundary in the space of uncertain parameters.
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