An experimental LPV/H∞ direct yaw moment control for vehicle handling

In this work, we propose and experimentally validate a novel H ∞ scheme for direct yaw moment control of modern vehicles. In particular, the proposed scheme seeks to enhance the robustness of a real (state-of-practice) PIDs. To this end, we tune the robust controller using the so-called “bicycle model”, accounting for a Linear Parameter Varying (LPV) reference model with consistent weights w.r.t. vehicle handling performance objectives. Accordingly, we present high-fidelity numerical validation results, along with real experimental vehicle tests under critical driving conditions in realistic city and mountain track circuits. Our findings confirm that the proposed LPV/ H ∞ scheme indeed improves overall vehicle handling and driving stability.