Upperbounds on the closed loop sensitivity for the control of a steer-by-wire vehicle

This paper proposes guidelines for controller design for steer-by-wire vehicles with the inclusion of non-linear tire behavior. For the nominal vehicle model, the velocity dependency of the yaw dynamics is removed. By using an H _∞ approach, bounds on the closed loop sensitivity are presented. From these bounds guidelines for the controller design are derived. Using a validated multi-body vehicle model, it is shown that the yaw dynamics are stabilized for an extreme manoeuvre.