Robust H∞ Output-feedback Vehicle Yaw Control Using an Active Front Wheel Steering

In this paper, we investigate the vehicle stability control problem under the side wind disturbance. To improve the vehicle lateral stability, an active front wheel steering (AFS) is designed based on the robust $\mathrm{H}\infty$ output-feedback control. The robust controller takes the wind disturbance and uncertain parameters of the cornering stiffness into consideration while system modeling and controller designing. The simulation with obstacles suddenly encountering shows the vehicle can avoid the obstacles safely and effectively with side wind disturbances. By this way, the controller can improve the vehicle lateral stability and drivability significantly, and reduce the workload of the driver. In addition, good robustness is achieved while uncertain parameters exist.