Direct Yaw-moment Robust Control for Electric Vehicles Based on Simplified Lateral Tire Dynamic Models and Vehicle Model

There are two major contributions in this paper. One is simplified lateral tire dynamic models proposed to estimate the cornering stiffness of front and rear tires. They can be decoupled and used to construct regression models of the recursive least squares (RLS) easily. The other is simplified direct yaw-moment control (DYC) system. With steering stability constraints and estimated tire cornering stiffness, vehicle model can be simplified from a multiple inputs single output (MISO) system to a single input single output (SISO) system. H ∞ V controller is designed to determine yaw rate to restrain the effect of uncertainties such as parameter perturbation and lateral wind disturbance. By utilizing simplified lateral tire dynamic models and vehicle model, computational burden can be reduced and computation speed can be improved. Simulation experiments demonstrate that the direct yaw-moment H ∞ control based on simplified lateral tire dynamic models and vehicle model is feasible, effective, and reliable.