抄録
Vehicle stability control problem which protects the vehicle from spin can be described by robust stabilization problem against perturbations of rear cornering force. The control law of the braking force distribution is designed by using gain-scheduled H∞ control. The designed controller satisfies H∞ norm condition for arbitrary velocity in order to protect the vehicle from spin. The experimental results show that the designed controller robustly stabilizes the vehicle and protects it from spin in the presence of the perturbations of rear cornering force.
