A single input single output formulation for yaw rate and sideslip angle control via torque-vectoring

Many torque-vectoring controllers are based on the concurrent control of yaw rate and sideslip angle through complex multi-variable control structures. In general, the target is to continuously track a reference yaw rate, and constrain the sideslip angle to remain within thresholds that are critical for vehicle stability. To achieve this objective, this paper presents a single input single output (SISO) formulation, which varies the reference yaw rate to constrain sideslip angle. The performance of the controller is successfully validated through simulations and experimental tests on an electric vehicle prototype with four drivetrains.