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Shock and Vibration
Volume 2014 (2014), Article ID 324018, 12 pages
Research Article

Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities

The State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin 150001, China

Received 16 September 2012; Accepted 12 March 2013; Published 5 March 2014

Academic Editor: Hongyi Li

Copyright © 2014 Huihui Pan et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper focuses on the problem of tracking control for vehicle lateral dynamic systems and designs an adaptive robust controller (ARC) based on backstepping technology to improve vehicle handling and stability, in the presence of parameter uncertainties and external nonlinearities. The main target of controller design has two aspects: the first target is to control the sideslip angle as small as possible, and the second one is to keep the real yaw rate tracking the desired yaw rate. In order to compromise the two indexes, the desired sideslip angle is planned as a new reference signal, instead of the ideal “zero.” As a result, the designed controller not only accomplishes the control purposes mentioned above, but also effectively attenuates both the changes of vehicle mass and the variations of cornering stiffness. In addition, to overcome the problem of “explosion of complexity” caused by backstepping method in the traditional ARC design, the dynamic surface control (DSC) technique is used to estimate the derivative of the virtual control. Finally, a nonlinear vehicle model is employed as the design example to illustrate the effectiveness of the proposed control laws.