Yaw motion stabilization controller for EV based on state observer

A yaw motion stabilization controller in Electric Power Steering (EPS) system is designed in this paper. According to the linearized four-wheel model of vehicle, a state observer of cornering state variables, such as yaw rate angle and slip angle. In order to improve the drive comfort and drive safety for EPS, a Yaw Rate Generator is designed and a yaw rate stabilization controller is constructed with a disturbance observer and a feed-forward compensator to follow the driverpsilas steering command. By a Drive/Brake Force Distribution Controller, the torque command is distributed to the four wheels. The simulation results showed the effectiveness of the yaw motion stabilization controller.