摘要：AbstractThis paper proposes an analysis of the yaw motion dynamic and a comparison of three controllers in order to regulate the yaw rate. The influence of the mass, longitudinal speed and road adhesion uncertainties on the vehicle lateral dynamics are compared and used for the design of three controllers: PID, H∞and CRONE. Simulation results are used to illustrate the effectiveness of the CRONE controller over the H∞and PID controllers in term of robustness.
