Tracking with stability for a vehicle braking in a corner

We present a control method based on nonlinear constrained optimization combined with the singular perturbation theory for dealing with the problem of vehicle braking in a corner, by following a yaw rate reference trajectory and a longitudinal acceleration reference trajectory. The control laws are elaborated from a horizontal model. Moreover, using a simplified reference model and slightly modifying the control law, we show that the longitudinal velocity error asymptotically converges to zero and that the lateral velocity remains bounded