Robust output-feedback based vehicle lateral motion control considering network-induced delay and tire force saturation

This paper presents a robust H∞ output-feedback vehicle lateral motion control strategy considering network-induced delay and tire force saturation. The unavoidable time delay in the in-vehicle networks degrades the control performance, and even deteriorates the system stability. In addition, the tire lateral force suffers saturation phenomenon, which also deteriorates the control effect in extreme driving conditions. To handle the network-induced control delay and tire force saturation, a robust H∞ controller is presented to regulate the vehicle lateral motion. An output-feedback control schema, which does not need the vehicle lateral velocity, is designed to achieve the desired control performance and reduce the cost of control system. The tire cornering stiffness uncertainty and external disturbances are also considered in the controller design to improve the robustness of the proposed controller. The comparative simulation results based on Carsim-Simulink joint simulation verify the effectiveness and robustness of the proposed control strategy.