In this paper, robust compensating controller is proposed to control the lateral
velocity and yaw rate of the vehicle during turning .This controller uses the errors
of the lateral velocity and yaw rate as input and the front steering angle and
differential brake force as output.
A vehicle model of dynamic lateral motion is heavily influenced by vehicle
parameters such as vehicle speed, vehicle mass and road-tire interaction. These
vehicle parameters vary during operation; therefore variations of parameters are
taken into considering in controller design. The compensators of the controller
become function to variations of vehicle parameters to improve the dynamic
responses of lateral velocity and yaw rate. The simulation results of the proposed
controller with lag brake and front steering models give acceptable responses
through reaching to the desired conditions with short transient period and steady –
state error is equal to zero for different cases.