Optimal yaw moment control law for improved vehicle handling

A new optimal control law for direct yaw moment control, to improve the vehicle handling, is developed. Although, this can be considered as part of a multi-layer system, for the traction control of a motorized wheels electric vehicle, but the results of this study are quite general and can be applied to other types of vehicles. The dynamic model of the vehicle system is initially developed and, using the well-known optimal control theory, an optimal controller is designed. Two different versions of control laws are considered here and the performance of each version of the control law is compared with the other one. The numerical simulation of the vehicle handling with and without the use of the optimal yaw moment controller, and assuming a comprehensive non-linear vehicle dynamic model, has been carried out. Simulation results obtained indicate that considerable improvements in the vehicle handling can be achieved whenever the vehicle is governed by the optimal yaw moment control. (C) 2002 Elsevier Science Ltd. All rights reserved.