International Journal of Automotive Technology

, Volume 18, Issue 5, pp 799–811 | Cite as

On the experimental analysis of single input single output control of yaw rate and sideslip angle

  • Basilio Lenzo
  • Aldo SorniottiEmail author
  • Patrick Gruber
  • Koen Sannen


Electric vehicles with individually controlled drivetrains allow torque-vectoring, which improves vehicle safety and drivability. This paper investigates a new approach to the concurrent control of yaw rate and sideslip angle. The proposed controller is a simple single input single output (SISO) yaw rate controller, in which the reference yaw rate depends on the vehicle handling requirements, and the actual sideslip angle. The sideslip contribution enhances safety, as it provides a corrective action in critical situations, e.g., in case of oversteer during extreme cornering on a low friction surface. The proposed controller is experimentally assessed on an electric vehicle demonstrator along two maneuvers on surfaces with significantly varying tire-road friction coefficient. Different longitudinal locations of the sideslip angle used as control variable are compared during the experiments. Results show that: i) the proposed SISO approach provides significant improvements with respect to the vehicle without torque-vectoring, and the controlled vehicle with a reference yaw rate solely based on the handling requirements for high-friction maneuvering; and ii) the control of the rear axle sideslip angle provides better performance than the control of the sideslip angle at the center of gravity.


Electric vehicle Torque-vectoring Variable tire-road friction Sideslip angle Experiments 


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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany 2017

Authors and Affiliations

  • Basilio Lenzo
    • 1
    • 2
  • Aldo Sorniotti
    • 1
    Email author
  • Patrick Gruber
    • 1
  • Koen Sannen
    • 3
  1. 1.Department of Mechanical Engineering SciencesUniversity of SurreyGuildfordUK
  2. 2.Department of Engineering and MathsSheffield Hallam UniversitySheffieldUK
  3. 3.Clean Powertrains Group, Flanders MAKEBelgiumUK

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