Robust Output-Feedback Yaw Control for Vehicles with Differential Steering

Table 1

Vehicle parameters.

Symbol	Parameters	Values
m	vehicle mass	1450 kg
	distance from COG to front axle	1.013 m
	distance from COG to rear axle	1.3 m
	half of track width	0.7180 m
	tire effective radius	0.33 m
	acceleration of gravity	9.81
	Midpoints of diagonals	1.36 m
J	yaw moment of inertia	2300 kg.
	coefficient of friction	0.2 - 0.9
	longitudinal tire stiffness	50000 N/rad
	lateral tire stiffness	25000 N/rad