Steering Angle-Disturbance Observer (SA-DOB) based yaw stability control for electric vehicles with in-wheel motors

In this paper, a robust yaw stability control design based on active steering control is proposed for electric vehicles. The control system consists of an inner-loop controller (i.e., in this paper, called as a Steering Angle-Disturbance Observer(SA-DOB) which rejects an input steering disturbance and an output yaw disturbance simultaneously by feeding a compensation steering angle) and an outer-loop controller (i.e., PI-type Tracking Controller) to achieve the control performances. The control performance of the proposed yaw stability control system is verified through computer simulations and experiments.