Robust vehicle stability control with an uncertain driver model

We present the design of a robust lateral stability controller to track yaw rate and lateral velocity reference signals while avoiding front and rear tire force saturation. The controller takes into account the driver´s intent at the design stage by treating it as a measured disturbance. The uncertainty in the driver´s input is modeled as a set-valued function of the vehicle states. The control design is based on a hybrid piecewise affine bicycle model with input-dependent and state-dependent uncertainties. The performance of the controller and the importance of driver behavior modeling are demonstrated through experimental tests on ice with aggressive driver maneuvers.