Research on the LQG/LTR Robust Control Method of Vehicular DYC

In view of the control methods of Direct Yaw-Moment Control (DYC) system,a LQG/LTR robust controller is designed and a linear two-freedom-degree state-space model of vehicle lateral dynamics is established for applying this method.The LQG/LTR controller is simulated in MATLAB/Simulink with the sevenfreedom-degree vehicle system dynamic model.The simulation results validate the feasibility and validity of control algorithm.The control effects of different road adhesion coefficients and different steer characteristic vehicles indicate that the LQG/LTR controller has better robustness and self-adaptability.