An Approach to Mitigate the Lateral Skid for Wheeled Vehicles

The aim of this work is to propose a robust control to mitigate lateral skid of wheeled vehicles and to evaluate its effectiveness in face of perturbations given by driving commands as well as model and terrain parameters. A polytopic description of the system and Lyapunov stability tools are used to derive conditions to ensure the mitigation of lateral skid phenomenon. Simulations in CarSim under severe operation conditions that include wet terrain are used to illustrate the effectiveness of the proposed strategy for a variety of vehicle models.