Design and simulation of an integrated active yaw control system for road vehicles

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Tekin G., ÜNLÜSOY Y. S.

INTERNATIONAL JOURNAL OF VEHICLE DESIGN, vol.52, pp.5-19, 2010 (Peer-Reviewed Journal) identifier identifier

  • Publication Type: Article / Article
  • Volume: 52
  • Publication Date: 2010
  • Doi Number: 10.1504/ijvd.2010.029632
  • Journal Indexes: Science Citation Index Expanded, Scopus
  • Page Numbers: pp.5-19
  • Keywords: active yaw control, AYC, integrated vehicle safety systems, fuzzy logic control, FLC, wheel slip control, vehicle sideslip angle limitation, MOMENT CONTROL


In this paper, design methodology and simulation results of an active yaw control system For road vehicles arc presented. The main objectives of the yaw control system arc to estimate the desired yaw behaviour of file vehicle according to the demand of file driver by means of a two degree-of-freedom vehicle model and track this desired yaw rate while considering vehicle steerability parameters. Based on vehicle yaw rate error and vehicle sideslip angle, the controller system applies brake torques to individual wheels in order to create a yaw moment. thus maintaining file desired vehicle behaviour. The control system is based on fuzzy logic control and consists of a two-level controlling scheme: the high-level controller deals with the yaw rate control and vehicle sideslip angle limitation, while the low-level controller calculates and applies the appropriate brake torques to the appropriate wheels requested by the high-level controller for yaw moment generation. An eight degree-of-freedom vehicle model is used to represent the real vehicle in the simulations. Results are compared with those of similar Studies in the literature and the observed differences are discussed.