Vehicle safety enhancement through a novel active yaw stabilizer

Fengchen Wang, Yan Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper presents a novel active yaw stabilizer (AYS) based on an in-wheel motor control system. Locating a controlled in-wheel motor system in the common spare tire location of a sedan vehicle, the introduced AYS is realized by moving the controlled in-wheel motor along a designed orbit. Through controlling two torques commanded for the self-rotation of the in-wheel motor and the movement along the orbit, the introduced two yaw moments can be applied to provide additional control inputs to enhance the vehicle active safety. The model of the introduced AYS is first developed and then integrated with the vehicle lateral motion model. Based on the combined nonlinear system model, a nonlinear tracking controller based on Lyapunov theory is designed. The control effects to stabilize the vehicle yaw motion on road with different friction coefficients for a double lane change maneuver are successfully demonstrated through a co-simulation with MATLAB/Simulink® and CarSim®.

Original languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509059928
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2017 American Control Conference, ACC 2017
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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