Robust decoupling of the lateral and yaw motions of a car has been achieved by feedback of the integrated yaw rate into front wheel steering. The yaw disturbance attenuation is analyzed for a generic single-track vehicle model. The frequency limit, up to which yaw disturbances are attenuated, is calculated. For specific vehicle data, it is shown that this control law significantly reduces the influence of yaw disturbances on yaw rate and side-slip angle for low frequencies. This safety advantage is experimentally verified for micro-split braking.
Yaw disturbance attenuation by robust decoupling of car steering
Fahrzeuglenkung mit einer robusten Entkopplungsregelung für die Kompensation asymmetrischer Störungen, wie einseitiges Rutschen auf einer vereisten Fahrbahn
Control Engineering Practice ; 5 , 8 ; 1131-1136
1997
6 Seiten, 5 Bilder, 4 Quellen
Aufsatz (Zeitschrift)
Englisch
Yaw disturbance attenuation by robust decoupling of car steering
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