Driver assisted yaw rate control

Sean N. Brennan, Andrew Alleyne

Research output: Contribution to journalConference articlepeer-review

11 Scopus citations


A yaw rate controller was developed that utilizes the rear wheels of a vehicle to improve steering performance. The driver retains control over the front wheels, while a Model Reference Controller (MRC) commands the rear wheels. Experimental results were obtained by implementing the MRC on a scale vehicle. These results indicate significant performance improvement over proportional yaw-rate controller methods often used for rear-wheel control. Specifically, the MRC method was found to be less sensitive to model non-linearities such as actuator dynamics and steering linkage kinematics.

Original languageEnglish (US)
Pages (from-to)1697-1701
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - Dec 1 1999
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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