A robust control analysis for a steer-by-wire vehicle with uncertainty on the tyre forces

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This paper proposes guidelines for controller design for steer-by-wire vehicles. The proposed controller removes the velocity dependency of the vehicle dynamics and accounts for the nonlinear characteristics of the lateral tyre force. Using an approach, bounds on the closed loop sensitivity are presented, which results in guidelines for the controller design. Using the designed controller, simulations using a multi-body model show that the yaw dynamics of the vehicle are stabilised for extreme manoeuvres.
Original languageEnglish
Pages (from-to)1247-1268
JournalVehicle System Dynamics
Issue number9
Publication statusPublished - Sep 2016


  • Steer-by-wire
  • vehicle dynamics
  • yaw-rate control
  • robust stability
  • velocitydecoupling

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