Yaw Rate and Sideslip Angle Control Through Single Input Single Output Direct Yaw Moment Control

Electric vehicles with independently controlled drivetrains allow torque vectoring, which enhances active safety and handling qualities. This article proposes an approach for the concurrent control of yaw rate sideslip angle based on a single-input single-output (SISO) controller. With SISO formulation, reference is first defined according to vehicle requirements then corrected actual angle. The contribution guarantees prompt corrective action in critical situations such as incipient oversteer during limit cornering low tire-road friction conditions. A design methodology frequency domain discussed, including stability analysis theory switched linear systems. performance structure assessed via: 1) phase-plane plots obtained nonlinear model; 2) simulations experimentally validated model, multiple feedback structures; 3) experimental tests electric demonstrator along step steer maneuvers purposely induced drift. Results show that controller allows constraining within predetermined thresholds yields adaptation all considered controllers.