H∞ direct yaw-moment control with brakes for robust performance and stability of vehicles

This paper proposes a new H-infinity yaw-moment control scheme using brake: torque for improving vehicle performance and stability especially in high speed driving. Its characteristics is that brake torque is applied at only one wheel at a time depending on the driving situation. Steering angles are modeled as a disturbance input to the system and the controller minimizes the difference between the performance of the actual vehicle behavior and that of its "model behavior" under the disturbance input. Various simulations with a nonlinear 8-DOF vehicle model show that the controller enhances the vehicle performance and stability, and their robustness to the changes in vehicle parameters.