Yaw Disturbance Attenuation by Robust Decoupling of Car Steering
نویسنده
چکیده
Abstract: Robust decoupling of the lateral and yaw motions of a car has been achieved by feedback of the integrated yaw rate into front wheel steering. In the present paper the yaw disturbance attenuation is analyzed for a generic single-track vehicle model. The frequency limit, up to which yaw disturbances are attenuated, is calculated. For specific vehicle data, it is shown that this control law significantly reduces the influence of yaw disturbances on yaw rate and side-slip angle for low frequencies. This safety advantage is experimentally verified for μ-split braking.
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