H∞ yaw-moment control with brakes for improving driving performance and stability

This paper proposes a new H_∞ yaw-moment control scheme using brake torque for improving vehicle performance and stability especially in high speed driving. Its characteristics is that only one brake is used for control depending on the vehicle state. 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