Study on mixed robust control for integrated active front steering and direct yaw moment

The vehicle dynamics model and desired target tracking model were established in this paper. In order to improve vehicle handling performance and stability, a H2/H∞ mixed robust controller was designed for integrated active front steering (AFS) and direct yaw moment control (DYC) based on linear inequalities method and was compared with H∞ control. The simulation results show that the vehicle with the designed mixed robust control has better performance than with H∞ control and has robust stability resisting outside noise. The vehicle handling performance and stability with the designed controller was greatly improved.