Integrated control for vehicle yaw motion using double-cost-function LQR

The front steering angle control and its integration with the direct yaw moment control are suggested to enhance the handling performance for heavy-duty vehicles based on a 3D vehicle model. The double-cost-function LQR methodology (DLQR), which extends the concept and the applicable field of LQR to express the practical requirements more plainly, is proposed to determine the control input value: compensation value of front steering angle in the optimal model. A simple auto-tuning proportion controller is employed in direct yaw moment control to regulate the moment timely. The simulation results show that front steering angle control using DLQR has good ability to achieve the desired steering output in the different running conditions. DLQR is more powerful to balance many factors effectively based on the explicit mathematics expression of the physics of the problem than LQR does.