Abstract
In this paper, a design method of a hybrid system for active steering based on model reference adaptive control is proposed. A controller to track a desired yaw rate is applied to a linear model because a driver is conscious of a yaw rate in normal situation. The controller is switched to a nonlinear controller to track a lateral acceleration because of the importance of lateral movement in critical situation. The timing of the controller switching is considered for the proposed model reference control system. Some simulation results show the capability of this hybrid controller.
