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Adaptive yaw stability control by coordination of active steering and braking with an optimized lower‐level controller

In this article, an integrated multiinput multioutput model reference adaptive control algorithm is presented based on active front steering and effective direct yaw moment distribution as an advanced driver assistance system. Vehicle parameter uncertainties in mass and tire‐road friction coefficient are considered through adaptation laws at the upper level in the control structure. The efficient distribution of yaw moment on the rear wheels is performed via a constrained optimization at the lower control level. Control commands are executed by additive steering angle on front wheels and brake torque applied on one of the rear wheels. Simulation results for different lateral maneuvers are employed for the evaluation of the proposed adaptive control method. The performance of the integrated control algorithm to enhance vehicle handling and stability is shown on various road conditions.