A Finite Frequency Domain State Feedback H∞ Controller for Yaw Stabilization of Four-Wheel Independent Steering Autonomous Vehicles

This paper focuses on the stability control algorithm for four-wheel independent steering (4WIS) autonomous vehicles. The path tracking algorithm uses the commonly used LQR technique. The handling stability control algorithm uses four-wheel steering (4WS) technique. In order to effectively reduce the vehicle yaw rate while the front wheel steering angle is seen as a perturbation, a robust controller is designed based on finite-frequency-domain H
∞
control theory. The Carsim-simulink joint simulation results show that the finite-frequency-domain H
∞
control method can well alleviate the instability caused by the vehicle yaw rate at high speed.