A Yaw Rate Tracking Control of Active Front Steering System Using Composite Nonlinear Feedback

  • M. Khairi Aripin
  • Y. M. Sam
  • A. D. Kumeresan
  • Kemao Peng
  • Mohd Hanif Che Hasan
  • Muhamad Fahezal Ismail
Part of the Communications in Computer and Information Science book series (CCIS, volume 402)


In this paper, the composite nonlinear feedback (CNF) technique is applied for yaw tracking control of active front steering system with the objectives to improve the transient performance of yaw rate response. For lateral and yaw dynamics analysis, nonlinear and linear vehicle models are utilized as actual vehicle plant and for controller design respectively. The designed controller is evaluated using J-turn cornering manoeuvre condition in computer simulation. The simulation results demonstrate that the application of CNF for yaw rate tracking control improves the yaw stability and vehicle handling performances.


composite nonlinear feedback yaw rate control active front steering vehicle yaw stability 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Zhou, H., Liu, Z.: Vehicle Yaw Stability-Control System Design Based on Sliding Mode and Backstepping Control Approach. IEEE Transactions on Vehicular Technology 59, 3674–3678 (2010)CrossRefGoogle Scholar
  2. 2.
    Zhou, H., Liu, Z.: Design of Vehicle Yaw Stability Controller Based on Model Predictive Control. In: IEEE Intelligent Vehicles Symposium, pp. 802–807. IEEE Press, Xian (2009)Google Scholar
  3. 3.
    Cerone, V., Milanese, M., Regruto, D.: Yaw Stability Control Design Through A Mixed-Sensitivity Approach. IEEE Transactions on Control Systems Technology 17, 1096–1104 (2009)CrossRefGoogle Scholar
  4. 4.
    Canale, M., Fagiano, L., Ferrara, A., Vecchio, C.: Comparing Internal Model Control and Sliding-Mode Approaches For Vehicle Yaw Control. IEEE Transactions on Intelligent Transportation Systems 10, 31–41 (2009)CrossRefGoogle Scholar
  5. 5.
    Canale, M., Fagiano, L., Ferrara, A., Vecchio, C.: Vehicle Yaw Control via Second-Order Sliding-Mode Technique. IEEE Transactions on Industrial Electronics 55, 3908–3916 (2008)CrossRefGoogle Scholar
  6. 6.
    Canale, M., Fagiano, L., Milanese, M., Borodani, P.: Robust Vehicle Yaw Control Using An Active Differential and IMC Techniques. Control Engineering Practice 15, 923–941 (2008)CrossRefGoogle Scholar
  7. 7.
    Li, Q., Shi, G., Lin, Y., Wei, J.: Yaw Rate Control of Active Front Steering Based on Fuzzy-Logic Controller. In: Second International Workshop on Education Technology and Computer Science, Wuhan, pp. 125–128 (2010)Google Scholar
  8. 8.
    Tekin, G., Ünlüsoy, Y.S.: Design and Simulation of an Integrated Active Yaw Control System for Road Vehicles. International Journal of Vehicle Design 52, 5–19 (2010)CrossRefGoogle Scholar
  9. 9.
    Lin, Z., Pachter, M., Ban, S.: Toward Improvement of Tracking Performance - Nonlinear Feedback for Linear Systems. International Journal of Control 70, 1–11 (1998)MathSciNetCrossRefzbMATHGoogle Scholar
  10. 10.
    Turner, M.C., Postlethwaite, I., Walker, D.J.: Non-Linear Tracking Control for Multivariable Constrained Input Linear Systems. International Journal of Control 73, 1160–1172 (2000)MathSciNetCrossRefzbMATHGoogle Scholar
  11. 11.
    Chen, B.M., Lee, T.H., Peng, K., Venkataramanan, V.: Composite Nonlinear Feedback Control for Linear Systems With Input Saturation: Theory and an Application. IEEE Transactions on Automatic Control 48, 427–439 (2003)MathSciNetCrossRefGoogle Scholar
  12. 12.
    He, Y., Chen, B.M., Wu, C.: Composite Nonlinear Control with State and Measurement Feedback for General Multivariable Systems with Input Saturation. Systems and Control Letters 54, 455–469 (2005)MathSciNetCrossRefzbMATHGoogle Scholar
  13. 13.
    Lan, W., Thum, C.K., Chen, B.M.: A Hard-Disk-Drive Servo System Design Using Composite Nonlinear-Feedback Control with Optimal Nonlinear Gain Tuning Methods. IEEE Transactions on Industrial Electronics 57, 1735–1745 (2010)CrossRefGoogle Scholar
  14. 14.
    Cheng, G., Peng, K.: Robust Composite Nonlinear Feedback Control with Application to A Servo Positioning System. IEEE Transactions on Industrial Electronics 54, 1132–1140 (2007)CrossRefGoogle Scholar
  15. 15.
    Cheng, G., Jin, W.: Parameterized Design of Nonlinear Feedback Controllers for Servo Positioning Systems. Journal of Systems Engineering and Electronics 17, 593–599 (2006)CrossRefGoogle Scholar
  16. 16.
    Peng, K., Chen, B.M., Cheng, G., Lee, T.H.: Modeling and Compensation of Nonlinearities and Friction in A Micro Hard Disk Drive Servo System with Nonlinear Feedback Control. IEEE Transactions on Control Systems Technology 13, 708–721 (2005)CrossRefGoogle Scholar
  17. 17.
    Ismail, M.F., Sam, Y.M., Peng, K., Aripin, M.K., Hamzah, N.A.: A Control Performance of Linear Model and The Macpherson Model for Active Suspension System using Composite Nonlinear Feedback. In: IEEE International Conference on Control System, Computing and Engineering, Penang, pp. 227–233 (2012)Google Scholar
  18. 18.
    Jazar, R.N.: Vehicle Dynamics: Theory and Application. Springer, Heidelberg (2008)CrossRefGoogle Scholar
  19. 19.
    Lan, W., Thum, C.K., Chen, B.M.: Optimal Nonlinear Gain Tuning of Composite Nonlinear Feedback Controller and its Application to A Hard Disk Drive Servo System. In: 48th IEEE Conference on Decision and Control Held Jointly with 28th Chinese Control Conference, Shanghai, pp. 3169–3174 (2009)Google Scholar
  20. 20.
    On Selection of Nonlinear Gain in Composite Nonlinear Feedback Control for a Class of Linear Systems. In: 46th IEEE Conference on Decision and Control, pp. 1198-1203. New Orleans (2007)Google Scholar
  21. 21.
    He, J., Crolla, D.A., Levesley, M.C., Manning, W.J.: Coordination of Active Steering, Driveline, and Braking for Integrated Vehicle Dynamics Control. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 220, 1401–1421 (2006)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • M. Khairi Aripin
    • 1
  • Y. M. Sam
    • 2
  • A. D. Kumeresan
    • 2
  • Kemao Peng
    • 3
  • Mohd Hanif Che Hasan
    • 4
  • Muhamad Fahezal Ismail
    • 5
  1. 1.Faculty of Electrical EngineeringUniversiti Teknikal Malaysia MelakaMelakaMalaysia
  2. 2.Faculty of Electrical EngineeringUniversiti Teknologi MalaysiaJohorMalaysia
  3. 3.Temasek LaboratoryNational University of SingaporeSingapore
  4. 4.Faculty of Engineering TechnologyUniversiti Teknikal Malaysia MelakaMelakaMalaysia
  5. 5.Industrial Automation SectionUniversiti Kuala Lumpur Malaysia France InstituteSelangorMalaysia

Personalised recommendations