Abstract
This paper presents the work on an application of Composite Nonlinear Feedback (CNF) controller for an integrated control strategy of vehicle lateral dynamic behavior based on direct yawmoment compensation with active front steering and the slip regulation objective for vehicle handling, stability and traction assessments. The proposed control structure is based on model matching approach and feedback linearization technique for the lateral dynamic improvement and slip regulation in longitudinal dynamic respectively. Dual inputs lateral disturbance observer are also included in the control structure to reject the external disturbances or uncertainties (e.g. side wind). Numerical simulations are conducted to assess the performance of CNF controller and the proposed structure. Results are compared with conventional LQ theory and demonstrates that, improvement in terms of reference tracking objective as well as maintaining the vehicle dynamic within its desirable stable region particularly in the event of undesired external disturbances or uncertainties is achieved.