Parametric Neural Network-Based Model Free Adaptive Tracking Control Method and Its Application to AFS/DYC System

Table 1

Description of vehicle parameters.

Parameters	Description
m	Vehicle mass
Iz	Yaw moment of inertia
lf, lr	Distance from CG to front axle and rear axle
Cyi	Tire lateral stiffness
Cxi	Tire longitudinal stiffness
h	CG height
	Vehicle longitudinal and lateral speed
ax, ay	Vehicle longitudinal and lateral acceleration
Fyf, Fyr	Combined front and rear tire lateral force
Fzi	Normal force of ith wheel
	Gravity acceleration
	Wheel rolling radius, moment of inertia
	Wheel angular speed
Tbwi	Active brake torque
Tdwi	Driving torque
t	Wheel track width
	Friction coefficient between tire and road
	Yaw rate about z axis
	The ith wheel slip angle, slip ratio
	Front wheel steering angle