Robust Control Design for Yaw Stability of Commercial Vehicles

Abstract

This paper describes yaw stability control of commercial vehicles. When it comes to commercial vehicles, their unique characteristics – center of gravity, trackwidth, weight distribution – make them particularly vulnerable to yaw instability. In the case of commercial vehicles, variations of vehicle parameters are relatively large compared to passenger vehicles due to their loading conditions. Changes in some parameters, such as mass, cornering stiffness, center of gravity, can result in changes of pole locations. To obtain robust stability control performance, a robust yaw stability controller which takes advantage of stochastic root locus and sensitivity dynamics was used. Simulation studies have been conducted for the evaluation of the proposed controller. It has been shown via simulations that robust yaw stability control performance robust to parameter variations can be achievable by the use of the controller.