Modeling and Implementation of Yaw Disturbance Rejection Control for an Instrumented Armoured Vehicle to Minimize the Effect of Unwanted Recoil Force

External disturbance acting at the center of gravity (CG) of an armoured vehicle due to firing impact is one of the distraction to the lateral performance of the vehicle. Firing impact while in dynamic condition creates massive disturbance at the CG of the armoured vehicle causes unwanted lateral force and yaw moment. In order to overcome the impact after the firing, an active safety system namely Yaw Disturbance Rejection Control (YDRC) is developed in this paper using two feedback loop namely yaw and estimated lateral force. The developed YDRC system is used to minimize the unwanted yaw moment as well as to reduce lateral acceleration which can improve the lateral displacement of the armoured vehicle after the firing. The YDRC system is designed initially using a validated 15 DOF armoured vehicle model and the implemented on instrumented 4×4 armoured vehicle using Integrated Measurement and Control (IMC) data acquisition system via Application Program Interface (API).