Robust Control with Uncertain Disturbances for Vehicle Drift Motions

Professor drivers, including racing can drive cars to achieve drift motions by taking control of the steering angle in high tire slip ratios, which provides a way improve driving safety autonomous vehicles. The existing studies be divided into two kinds based on analysis methods, and theory-based is chosen this study. Because recent theory most applied for planar models with neglect rollover accident risk, nonlinear vehicle model established considering longitudinal, lateral, roll, yaw rolling UniTire. motion mechanism analyzed steady transient states obtain conditions, velocity limitation relationship between sideslip rate, main status parameters velocity, side-slip rate conditions. state-feedback controller designed robust LMI (linear matrix inequation) uncertain disturbances realize circle simulations realizes aiming at target values matching front-wheel saturated forces, satisfies Lyapunov stability robustness. Robust conditions solves problem how vehicles perform improves