Robust roll and yaw integrated control using 4 wheel steering based on yaw moment and lateral force observers

Considering driving safety and comfort, this paper proposed a roll and yaw integrated control method utilizing four wheel steering based on disturbance observer (hereinafter DOB) and 2-degree-of-freedom (hereinafter 2DOF) control approach. Firstly, vehicle model for controller design as well as the desired roll and yaw motion were explained; then the controller design was carried out based on the well known DOB and 2DOF control method; for the controller design, details such as controller parameters selection were explained; then simulations were performed to show the effectiveness of the controller; and then, experiments were conducted with a four wheel steering electric vehicle to verify the proposed control strategy; finally, summery was made and future research directions were presented.