Active steering control with front wheel steering

The decoupling of the lateral and yaw motions of a car and car´s yaw damping are achieved simultaneously by feedback of both yaw rate and front steering angle. A trade-off is made between the robust decoupling and yaw rate damping through the adjustment of the feedback gains with respect to vehicle speed. With this trade-off, the gain scheduled steering controller provides the desired yaw rate damping while keeping the yaw-lateral motion decoupled. The robustness of the decoupling can be achieved when arbitrary yaw damping is not desired. The developed control system is implemented in a steer-by-wire vehicle, and the test results are provided which illustrate the benefits of the control system.