A Combination Strategy of Saturated Yaw Moment Control with Specialized Active Front Wheel Steering for Vehicle Assistance and Active Safety Control System

This paper introduces an assistance and active safety control system that integrates Direct Yaw Moment (DYM) control with a specialized Active Front-Wheel Steering (AFS) system to enhance vehicle maneuverability under normal driving conditions while blocking excessive wheel steering from developing instability in vehicle later motion. The proposed approach utilizes polytopic Linear Parameter Varying (LPV) technology to account for changes in vehicle speed. The control system is designed using the Linear Matrix Inequality (LMI) technique with input constraints, and further reinforced with a high-gain saturation method to achieve faster vehicle response to reference tracking demands. Simulation results demonstrate the advantages of the proposed control.